Shaft assembly comprising first and second articulation lockouts

ABSTRACT

An end effector is disclosed which comprises a shaft, an end effector rotatably connected to the shaft about an articulation joint, and an articulation driver configured to rotate the end effector about the articulation joint. The end effector further comprises a first articulation lock configured to engage the end effector and a second articulation lock configured to engage the articulation driver which co-operatively prevent the end effector from rotating relative to the shaft, when actuated. The actuation and/or de-actuation of the first articulation lock and the second articulation lock can be contemporaneous or, in certain instances, staggered.

BACKGROUND

The present invention relates to surgical instruments and, in variousarrangements, to surgical stapling and cutting instruments and staplecartridges for use therewith that are designed to staple and cut tissue.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together withadvantages thereof, may be understood in accordance with the followingdescription taken in conjunction with the accompanying drawings asfollows:

FIG. 1 is a perspective view of a shaft assembly in accordance with atleast one embodiment;

FIG. 2 is a perspective view of the shaft assembly of FIG. 1 illustratedwith some components removed;

FIG. 3 is a perspective view of a spine assembly of the shaft assemblyof FIG. 1;

FIG. 4 is a partial cross-sectional view of the shaft assembly of FIG.1;

FIG. 5 is an exploded view of the shaft assembly of FIG. 1 illustratedwith some components removed;

FIG. 6 is an exploded view of the spine assembly of FIG. 3;

FIG. 7 is an exploded view of a distal end of the shaft assembly of FIG.1;

FIG. 8 is an exploded view of an intermediate portion of the shaftassembly of FIG. 1;

FIG. 9 is an exploded view of a proximal end of the shaft assembly ofFIG. 1 illustrated with some components removed;

FIG. 10 is a partial cross-sectional view of the distal end of the shaftassembly of FIG. 1 illustrated in an open, unfired configuration andcomprising a staple cartridge in an unspent condition;

FIG. 11 is a partial cross-sectional view of the distal end of the shaftassembly of FIG. 1 illustrated prior to a firing member of the shaftassembly being advanced distally;

FIG. 12 is a partial cross-sectional view of the distal end of the shaftassembly of FIG. 1 illustrated after the firing member has been advanceddistally through a closure stroke, but prior to the firing member beingadvanced through a firing stroke;

FIG. 13 is a partial cross-sectional view of the distal end of the shaftassembly of FIG. 1 illustrated after the firing stroke of the firingmember has been initiated;

FIG. 14 is a partial cross-sectional view of the distal end of the shaftassembly of FIG. 1 illustrating the firing member in a retractedposition after the firing stroke;

FIG. 15 is a partial cross-sectional view of the distal end of the shaftassembly of FIG. 1 illustrating the staple cartridge in a spentcondition and the firing member in a locked out condition;

FIG. 16 is a partial cross-sectional view of the shaft assembly of FIG.1 illustrated in an articulation operating mode;

FIG. 17 is a partial cross-sectional view of the shaft assembly of FIG.1 illustrated in a firing operating mode;

FIG. 18 is a partial cross-sectional view of the proximal end of theshaft assembly of FIG. 1 illustrated in the articulation operating modeof FIG. 16;

FIG. 19 is a partial cross-sectional view of the proximal end of theshaft assembly of FIG. 1 illustrated in the firing operating mode ofFIG. 17;

FIG. 20 is a partial cross-sectional view of the proximal end of theshaft assembly of FIG. 1 taken along line 20-20 in FIG. 18;

FIG. 21 is a partial cross-sectional view of the proximal end of theshaft assembly of FIG. 1 taken along line 21-21 in FIG. 18;

FIG. 22 is a partial cross-sectional view of the proximal end of theshaft assembly of FIG. 1 taken along line 22-22 in FIG. 19;

FIG. 23 is a partial cross-sectional view of the proximal end of theshaft assembly of FIG. 1 taken along line 23-23 in FIG. 19;

FIG. 24 is a partial exploded view of the shaft assembly of FIG. 1illustrating a shiftable clutch in the firing system of the shaftassembly;

FIG. 25 is a cross-sectional view of an intermediate firing rod of thefiring system of FIG. 24;

FIG. 26 is a partial cross-sectional view of the shaft assembly of FIG.1 illustrating the shiftable clutch of FIG. 24 in a firingconfiguration;

FIG. 27 is a partial cross-sectional view of the shaft assembly of FIG.1 illustrating the shiftable clutch of FIG. 24 about to be transitionedfrom the firing configuration of FIG. 26 to an articulationconfiguration;

FIG. 28 is a partial cross-sectional view of the shaft assembly of FIG.1 illustrating the shiftable clutch of FIG. 24 being transitioned fromthe firing configuration of FIG. 26 to the articulation configuration;

FIG. 29 is a partial cross-sectional view of the shaft assembly of FIG.1 illustrating the shiftable clutch of FIG. 24 in the articulationconfiguration;

FIG. 30 is a partial cross-sectional view of the shaft assembly of FIG.1 illustrated in an unarticulated configuration;

FIG. 31 is a partial cross-sectional view of the shaft assembly of FIG.1 illustrated in an articulated configuration;

FIG. 32 is a partial cross-sectional view of the shaft assembly of FIG.1 illustrating the articulation system of the shaft assembly in anunlocked state;

FIG. 33 is a partial cross-sectional view of the shaft assembly of FIG.1 illustrating the articulation system of the shaft assembly in a lockedstate;

FIG. 34 is a cross-sectional view of the proximal end of the shaftassembly of FIG. 1 illustrated with a retraction system of the shaftassembly in an undeployed state;

FIG. 35 is a cross-sectional view of the proximal end of the shaftassembly of FIG. 1 illustrated with the retraction system of FIG. 34 ina deployed state;

FIG. 36 is a cross-sectional view of the proximal end of the shaftassembly of FIG. 1 illustrating the retraction system of FIG. 34 in anactuated state;

FIG. 37 is a perspective view of a shaft assembly in accordance with atleast one embodiment;

FIG. 38 is a partial perspective view of the shaft assembly of FIG. 37illustrated with some components removed;

FIG. 39 is a partial perspective view of the shaft assembly of FIG. 37illustrated with additional components removed;

FIG. 40 is a partial cross-sectional view of the shaft assembly of FIG.37;

FIG. 41 is a partial cross-sectional view of the shaft assembly of FIG.37;

FIG. 42 is an exploded view of the shaft assembly of FIG. 37 illustratedwith some components removed;

FIG. 43 is an exploded view of a distal end of the shaft assembly ofFIG. 37;

FIG. 44 is an exploded view of a proximal end of the shaft assembly ofFIG. 37 illustrated with some components removed;

FIG. 45 is a partial cross-sectional view of the shaft assembly of FIG.37 illustrated in a closed, or clamped, configuration;

FIG. 46 is a partial cross-sectional view of the shaft assembly of FIG.37 illustrated in an open configuration;

FIG. 47 is a perspective view of a shaft assembly in accordance with atleast one embodiment illustrated with some components removed;

FIG. 48 is a perspective view of a shifting assembly of the shaftassembly of FIG. 47;

FIG. 49 is an exploded view of the shaft assembly of FIG. 47 illustratedwith some components removed;

FIG. 50 is a partial cross-sectional view of the shaft assembly of FIG.47 illustrated in an articulation operating mode;

FIG. 51 is a partial cross-sectional view of the shaft assembly of FIG.47 illustrated in a firing operating mode;

FIG. 52 is a perspective view of a shaft assembly comprising a shiftingassembly in accordance with at least one alternative embodiment;

FIG. 53 is a partial cross-sectional view of the shaft assembly of FIG.52 illustrated in an articulation operating mode;

FIG. 54 is a partial cross-sectional view of the shaft assembly of FIG.52 illustrated in a firing operating mode;

FIG. 55 is a perspective view of an attachment portion of a shaftassembly in accordance with at least one embodiment;

FIG. 56 is a perspective view of the attachment portion of FIG. 55illustrated in an open configuration;

FIG. 57 is an exploded view of the attachment portion of FIG. 55;

FIG. 58 is a perspective view of the attachment portion of FIG. 55illustrated in the open configuration of FIG. 56 and illustrated withsome components removed;

FIG. 59 is a perspective view of the attachment portion of FIG. 55illustrated in the open configuration of FIG. 56 and illustrated withadditional components removed;

FIG. 60 is a plan view of a drive train of the attachment portion ofFIG. 55 illustrated in a firing operating mode;

FIG. 61 is a cross-sectional view of the drive train of FIG. 60 takenalong line 61-61 in FIG. 60 and illustrated in the firing operating modeof FIG. 60;

FIG. 62 is a cross-sectional view of the drive train of FIG. 60 takenalong line 62-62 in FIG. 60 and illustrated in the firing operating modeof FIG. 60;

FIG. 63 is a cross-sectional view of the drive train of FIG. 60 takenalong line 63-63 in FIG. 60 and illustrated in the firing operating modeof FIG. 60;

FIG. 64 is a cross-sectional view of the drive train of FIG. 60 takenalong line 62-62 in FIG. 60 and illustrated in a second operating mode;

FIG. 65 is a cross-sectional view of the drive train of FIG. 60 takenalong line 63-63 in FIG. 60 and illustrated in a retraction operatingmode;

FIG. 66 is a partial cross-sectional view of the attachment portion ofFIG. 55 illustrated in the retraction operating mode of FIG. 65;

FIG. 67 is a partial cross-sectional view of a shaft assembly comprisingan end effector, a first articulation lock, and a second articulationlock illustrated with the first articulation lock in a locked state andthe second articulation lock in an unlocked state;

FIG. 68 is a partial cross-sectional view of the shaft assembly of FIG.67 illustrated with the first and second articulation locks in a lockedstate;

FIG. 69 is a partial cross-sectional view of the shaft assembly of FIG.67 illustrated with the first and second articulation locks in a lockedstate;

FIG. 70 is a partial cross-sectional view of the shaft assembly of FIG.67 illustrated with the first articulation lock in a locked state andthe second articulation lock in an unlocked state;

FIG. 71 is a partial cross-sectional view of the shaft assembly of FIG.67 illustrated with the first and second articulation locks in anunlocked state.

FIG. 72 is a perspective view of a surgical instrument including ahandle and an interchangeable shaft assembly; and

FIG. 73 is a perspective view of a robotic surgical system operablysupporting a plurality of surgical tools.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate various embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following U.S. PatentApplications that were filed on Dec. 21, 2016 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/386,185, entitled SURGICAL STAPLINGINSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF;

U.S. patent application Ser. No. 15/386,230, entitled ARTICULATABLESURGICAL STAPLING INSTRUMENTS;

U.S. patent application Ser. No. 15/386,221, entitled LOCKOUTARRANGEMENTS FOR SURGICAL END EFFECTORS;

U.S. patent application Ser. No. 15/386,209, entitled SURGICAL ENDEFFECTORS AND FIRING MEMBERS THEREOF;

U.S. patent application Ser. No. 15/386,198, entitled LOCKOUTARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES;and

U.S. patent application Ser. No. 15/386,240, entitled SURGICAL ENDEFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR.

Applicant of the present application owns the following U.S. PatentApplications that were filed on Dec. 21, 2016 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/385,939, entitled STAPLE CARTRIDGESAND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN;

U.S. patent application Ser. No. 15/385,941, entitled SURGICAL TOOLASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN CLOSURESYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND ARTICULATION ANDFIRING SYSTEMS;

U.S. patent application Ser. No. 15/385,943, entitled SURGICAL STAPLINGINSTRUMENTS AND STAPLE-FORMING ANVILS;

U.S. patent application Ser. No. 15/385,950, entitled SURGICAL TOOLASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES;

U.S. patent application Ser. No. 15/385,945, entitled STAPLE CARTRIDGESAND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN;

U.S. patent application Ser. No. 15/385,946, entitled SURGICAL STAPLINGINSTRUMENTS AND STAPLE-FORMING ANVILS;

U.S. patent application Ser. No. 15/385,951, entitled SURGICALINSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENINGDISTANCE;

U.S. patent application Ser. No. 15/385,953, entitled METHODS OFSTAPLING TISSUE;

U.S. patent application Ser. No. 15/385,954, entitled FIRING MEMBERSWITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS;

U.S. patent application Ser. No. 15/385,955, entitled SURGICAL ENDEFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS;

U.S. patent application Ser. No. 15/385,948, entitled SURGICAL STAPLINGINSTRUMENTS AND STAPLE-FORMING ANVILS;

U.S. patent application Ser. No. 15/385,956, entitled SURGICALINSTRUMENTS WITH POSITIVE JAW OPENING FEATURES;

U.S. patent application Ser. No. 15/385,958, entitled SURGICALINSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEMACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT; and

U.S. patent application Ser. No. 15/385,947, entitled STAPLE CARTRIDGESAND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN.

Applicant of the present application owns the following U.S. PatentApplications that were filed on Dec. 21, 2016 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/385,896, entitled METHOD FORRESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT;

U.S. patent application Ser. No. 15/385,898, entitled STAPLE FORMINGPOCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES;

U.S. patent application Ser. No. 15/385,899, entitled SURGICALINSTRUMENT COMPRISING IMPROVED JAW CONTROL;

U.S. patent application Ser. No. 15/385,901, entitled STAPLE CARTRIDGEAND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN;

U.S. patent application Ser. No. 15/385,902, entitled SURGICALINSTRUMENT COMPRISING A CUTTING MEMBER;

U.S. patent application Ser. No. 15/385,904, entitled STAPLE FIRINGMEMBER COMPRISING A MISSING CARTRIDGE AND/OR SPENT CARTRIDGE LOCKOUT;

U.S. patent application Ser. No. 15/385,905, entitled FIRING ASSEMBLYCOMPRISING A LOCKOUT;

U.S. patent application Ser. No. 15/385,907, entitled SURGICALINSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A FIRINGASSEMBLY LOCKOUT;

U.S. patent application Ser. No. 15/385,908, entitled FIRING ASSEMBLYCOMPRISING A FUSE; and

U.S. patent application Ser. No. 15/385,9096, entitled FIRING ASSEMBLYCOMPRISING A MULTIPLE FAILED-STATE FUSE.

Applicant of the present application owns the following U.S. PatentApplications that were filed on Dec. 21, 2016 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/385,920, entitled STAPLE FORMINGPOCKET ARRANGEMENTS;

U.S. patent application Ser. No. 15/385,913, entitled ANVIL ARRANGEMENTSFOR SURGICAL STAPLERS;

U.S. patent application Ser. No. 15/385,914, entitled METHOD OFDEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THESAME SURGICAL STAPLING INSTRUMENT;

U.S. patent application Ser. No. 15/385,893, entitled BILATERALLYASYMMETRIC STAPLE FORMING POCKET PAIRS;

U.S. patent application Ser. No. 15/385,929, entitled CLOSURE MEMBERSWITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS WITH SEPARATE ANDDISTINCT CLOSURE AND FIRING SYSTEMS;

U.S. patent application Ser. No. 15/385,911, entitled SURGICAL STAPLERSWITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS;

U.S. patent application Ser. No. 15/385,927, entitled SURGICAL STAPLINGINSTRUMENTS WITH SMART STAPLE CARTRIDGES;

U.S. patent application Ser. No. 15/385,917, entitled STAPLE CARTRIDGECOMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS;

U.S. patent application Ser. No. 15/385,900, entitled STAPLE FORMINGPOCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS;

U.S. patent application Ser. No. 15/385,931, entitled NO-CARTRIDGE ANDSPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLERS;

U.S. patent application Ser. No. 15/385,915, entitled FIRING MEMBER PINANGLE;

U.S. patent application Ser. No. 15/385,897, entitled STAPLE FORMINGPOCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES;

U.S. patent application Ser. No. 15/385,922, entitled SURGICALINSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES;

U.S. patent application Ser. No. 15/385,924, entitled SURGICALINSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS;

U.S. patent application Ser. No. 15/385,912, entitled SURGICALINSTRUMENTS WITH JAWS THAT ARE PIVOTABLE ABOUT A FIXED AXIS AND INCLUDESEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS;

U.S. patent application Ser. No. 15/385,910, entitled ANVIL HAVING AKNIFE SLOT WIDTH;

U.S. patent application Ser. No. 15/385,903, entitled CLOSURE MEMBERARRANGEMENTS FOR SURGICAL INSTRUMENTS; and

U.S. patent application Ser. No. 15/385,906, entitled FIRING MEMBER PINCONFIGURATIONS.

Applicant of the present application owns the following U.S. PatentApplications that were filed on Dec. 21, 2016 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/386,188, entitled STEPPED STAPLECARTRIDGE WITH ASYMMETRICAL STAPLES;

U.S. patent application Ser. No. 15/386,192, entitled STEPPED STAPLECARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES;

U.S. patent application Ser. No. 15,386,206, entitled STAPLE CARTRIDGEWITH DEFORMABLE DRIVER RETENTION FEATURES;

U.S. patent application Ser. No. 15/386,226, entitled DURABILITYFEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLINGINSTRUMENTS;

U.S. patent application Ser. No. 15/386,222, entitled SURGICAL STAPLINGINSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES; and

U.S. patent application Ser. No. 15/386,236, entitled CONNECTIONPORTIONS FOR DISPOSABLE LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS.

Applicant of the present application owns the following U.S. PatentApplications that were filed on Dec. 21, 2016 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/385,887, entitled METHOD FORATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND, ALTERNATIVELY,TO A SURGICAL ROBOT;

U.S. patent application Ser. No. 15/385,889, entitled SHAFT ASSEMBLYCOMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH AMOTORIZED SURGICAL INSTRUMENT SYSTEM;

U.S. patent application Ser. No. 15/385,890, entitled SHAFT ASSEMBLYCOMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE SYSTEMS;

U.S. patent application Ser. No. 15/385,891, entitled SHAFT ASSEMBLYCOMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A ROTARY FIRINGMEMBER TO TWO DIFFERENT SYSTEMS;

U.S. patent application Ser. No. 15/385,892, entitled SURGICAL SYSTEMCOMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION STATE TOARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM; and

U.S. patent application Ser. No. 15/385,894, entitled SHAFT ASSEMBLYCOMPRISING A LOCKOUT.

Applicant of the present application owns the following U.S. PatentApplications that were filed on Dec. 21, 2016 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/385,916, entitled SURGICAL STAPLINGSYSTEMS;

U.S. patent application Ser. No. 15/385,918, entitled SURGICAL STAPLINGSYSTEMS;

U.S. patent application Ser. No. 15/385,919, entitled SURGICAL STAPLINGSYSTEMS;

U.S. patent application Ser. No. 15/385,921, entitled SURGICAL STAPLECARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TO DISENGAGE FIRINGMEMBER LOCKOUT FEATURES;

U.S. patent application Ser. No. 15/385,923, entitled SURGICAL STAPLINGSYSTEMS;

U.S. patent application Ser. No. 15/385,925, entitled JAW ACTUATED LOCKARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN A SURGICALEND EFFECTOR UNLESS AN UNFIRED CARTRIDGE IS INSTALLED IN THE ENDEFFECTOR;

U.S. patent application Ser. No. 15/385,926, entitled AXIALLY MOVABLECLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OFSURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 15/385,928, entitled PROTECTIVE COVERARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAW AND ACTUATORSHAFT OF A SURGICAL INSTRUMENT;

U.S. patent application Ser. No. 15/385,930, entitled SURGICAL ENDEFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR OPENING ANDCLOSING END EFFECTOR JAWS;

U.S. patent application Ser. No. 15/385,932, entitled ARTICULATABLESURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT;

U.S. patent application Ser. No. 15/385,933, entitled ARTICULATABLESURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF ANARTICULATION LOCK;

U.S. patent application Ser. No. 15/385,934, entitled ARTICULATION LOCKARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN ARTICULATED POSITION INRESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM;

U.S. patent application Ser. No. 15/385,935, entitled LATERALLYACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR OFA SURGICAL INSTRUMENT IN AN ARTICULATED CONFIGURATION; and

U.S. patent application Ser. No. 15/385,936, entitled ARTICULATABLESURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES.

Applicant of the present application owns the following U.S. PatentApplications that were filed on Jun. 24, 2016 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 15/191,775, entitled STAPLE CARTRIDGECOMPRISING WIRE STAPLES AND STAMPED STAPLES;

U.S. patent application Ser. No. 15/191,807, entitled STAPLING SYSTEMFOR USE WITH WIRE STAPLES AND STAMPED STAPLES;

U.S. patent application Ser. No. 15/191,834, entitled STAMPED STAPLESAND STAPLE CARTRIDGES USING THE SAME;

U.S. patent application Ser. No. 15/191,788, entitled STAPLE CARTRIDGECOMPRISING OVERDRIVEN STAPLES; and

U.S. patent application Ser. No. 15/191,818, entitled STAPLE CARTRIDGECOMPRISING OFFSET LONGITUDINAL STAPLE ROWS.

Applicant of the present application owns the following U.S. PatentApplications that were filed on Jun. 24, 2016 and which are each hereinincorporated by reference in their respective entireties:

U.S. Design patent application Ser. No. 29/569,218, entitled SURGICALFASTENER;

U.S. Design patent application Ser. No. 29/569,227, entitled SURGICALFASTENER;

U.S. Design patent application Ser. No. 29/569,259, entitled SURGICALFASTENER CARTRIDGE; and

U.S. Design patent application Ser. No. 29/569,264, entitled SURGICALFASTENER CARTRIDGE.

Applicant of the present application owns the following patentapplications that were filed on Apr. 1, 2016 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 15/089,325, entitled METHOD FOROPERATING A SURGICAL STAPLING SYSTEM;

U.S. patent application Ser. No. 15/089,321, entitled MODULAR SURGICALSTAPLING SYSTEM COMPRISING A DISPLAY;

U.S. patent application Ser. No. 15/089,326, entitled SURGICAL STAPLINGSYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD;

U.S. patent application Ser. No. 15/089,263, entitled SURGICALINSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION;

U.S. patent application Ser. No. 15/089,262, entitled ROTARY POWEREDSURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT SYSTEM;

U.S. patent application Ser. No. 15/089,277, entitled SURGICAL CUTTINGAND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE MEMBER;

U.S. patent application Ser. No. 15/089,296, entitled INTERCHANGEABLESURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELYROTATABLE ABOUT A SHAFT AXIS;

U.S. patent application Ser. No. 15/089,258, entitled SURGICAL STAPLINGSYSTEM COMPRISING A SHIFTABLE TRANSMISSION;

U.S. patent application Ser. No. 15/089,278, entitled SURGICAL STAPLINGSYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF TISSUE;

U.S. patent application Ser. No. 15/089,284, entitled SURGICAL STAPLINGSYSTEM COMPRISING A CONTOURABLE SHAFT;

U.S. patent application Ser. No. 15/089,295, entitled SURGICAL STAPLINGSYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT;

U.S. patent application Ser. No. 15/089,300, entitled SURGICAL STAPLINGSYSTEM COMPRISING AN UNCLAMPING LOCKOUT;

U.S. patent application Ser. No. 15/089,196, entitled SURGICAL STAPLINGSYSTEM COMPRISING A JAW CLOSURE LOCKOUT;

U.S. patent application Ser. No. 15/089,203, entitled SURGICAL STAPLINGSYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT;

U.S. patent application Ser. No. 15/089,210, entitled SURGICAL STAPLINGSYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT;

U.S. patent application Ser. No. 15/089,324, entitled SURGICALINSTRUMENT COMPRISING A SHIFTING MECHANISM;

U.S. patent application Ser. No. 15/089,335, entitled SURGICAL STAPLINGINSTRUMENT COMPRISING MULTIPLE LOCKOUTS;

U.S. patent application Ser. No. 15/089,339, entitled SURGICAL STAPLINGINSTRUMENT;

U.S. patent application Ser. No. 15/089,253, entitled SURGICAL STAPLINGSYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES HAVING DIFFERENTHEIGHTS;

U.S. patent application Ser. No. 15/089,304, entitled SURGICAL STAPLINGSYSTEM COMPRISING A GROOVED FORMING POCKET;

U.S. patent application Ser. No. 15/089,331, entitled ANVIL MODIFICATIONMEMBERS FOR SURGICAL STAPLERS;

U.S. patent application Ser. No. 15/089,336, entitled STAPLE CARTRIDGESWITH ATRAUMATIC FEATURES;

U.S. patent application Ser. No. 15/089,312, entitled CIRCULAR STAPLINGSYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT;

U.S. patent application Ser. No. 15/089,309, entitled CIRCULAR STAPLINGSYSTEM COMPRISING ROTARY FIRING SYSTEM; and

U.S. patent application Ser. No. 15/089,349, entitled CIRCULAR STAPLINGSYSTEM COMPRISING LOAD CONTROL.

Applicant of the present application also owns the U.S. PatentApplications identified below which were filed on Dec. 31, 2015 whichare each herein incorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/984,488, entitled MECHANISMS FORCOMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 14/984,525, entitled MECHANISMS FORCOMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS; and

U.S. patent application Ser. No. 14/984,552, entitled SURGICALINSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS.

Applicant of the present application also owns the U.S. PatentApplications identified below which were filed on Feb. 9, 2016 which areeach herein incorporated by reference in their respective entirety:

U.S. patent application Ser. No. 15/019,220, entitled SURGICALINSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR;

U.S. patent application Ser. No. 15/019,228, entitled SURGICALINSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS;

U.S. patent application Ser. No. 15/019,196, entitled SURGICALINSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT;

U.S. patent application Ser. No. 15/019,206, entitled SURGICALINSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVETO AN ELONGATE SHAFT ASSEMBLY;

U.S. patent application Ser. No. 15/019,215, entitled SURGICALINSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS;

U.S. patent application Ser. No. 15/019,227, entitled ARTICULATABLESURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS;

U.S. patent application Ser. No. 15/019,235, entitled SURGICALINSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATIONSYSTEMS;

U.S. patent application Ser. No. 15/019,230, entitled ARTICULATABLESURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS; and

U.S. patent application Ser. No. 15/019,245, entitled SURGICALINSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS.

Applicant of the present application also owns the U.S. PatentApplications identified below which were filed on Feb. 12, 2016 whichare each herein incorporated by reference in their respective entirety:

U.S. patent application Ser. No. 15/043,254, entitled MECHANISMS FORCOMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 15/043,259, entitled MECHANISMS FORCOMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 15/043,275, entitled MECHANISMS FORCOMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS; and

U.S. patent application Ser. No. 15/043,289, entitled MECHANISMS FORCOMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS.

Applicant of the present application owns the following patentapplications that were filed on Jun. 18, 2015 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/742,925, entitled SURGICAL ENDEFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS;

U.S. patent application Ser. No. 14/742,941, entitled SURGICAL ENDEFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES;

U.S. patent application Ser. No. 14/742,914, entitled MOVABLE FIRINGBEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 14/742,900, entitled ARTICULATABLESURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH CENTERFIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT;

U.S. patent application Ser. No. 14/742,885, entitled DUAL ARTICULATIONDRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS; and

U.S. patent application Ser. No. 14/742,876, entitled PUSH/PULLARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS.

Applicant of the present application owns the following patentapplications that were filed on Mar. 6, 2015 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/640,746, entitled POWERED SURGICALINSTRUMENT, now U.S. Patent Application Publication No. 2016/0256184;

U.S. patent application Ser. No. 14/640,795, entitled MULTIPLE LEVELTHRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS, now U.S.Patent Application Publication No. 2016/02561185;

U.S. patent application Ser. No. 14/640,832, entitled ADAPTIVE TISSUECOMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR MULTIPLE TISSUETYPES, now U.S. Patent Application Publication No. 2016/0256154;

U.S. patent application Ser. No. 14/640,935, entitled OVERLAID MULTISENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUECOMPRESSION, now U.S. Patent Application Publication No. 2016/0256071;

U.S. patent application Ser. No. 14/640,831, entitled MONITORING SPEEDCONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED SURGICALINSTRUMENTS, now U.S. Patent Application Publication No. 2016/0256153;

U.S. patent application Ser. No. 14/640,859, entitled TIME DEPENDENTEVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, ANDVISCOELASTIC ELEMENTS OF MEASURES, now U.S. Patent ApplicationPublication No. 2016/0256187;

U.S. patent application Ser. No. 14/640,817, entitled INTERACTIVEFEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS, now U.S. PatentApplication Publication No. 2016/0256186;

U.S. patent application Ser. No. 14/640,844, entitled CONTROL TECHNIQUESAND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROLPROCESSING FROM HANDLE, now U.S. Patent Application Publication No.2016/0256155;

U.S. patent application Ser. No. 14/640,837, entitled SMART SENSORS WITHLOCAL SIGNAL PROCESSING, now U.S. Patent Application Publication No.2016/0256163;

U.S. patent application Ser. No. 14/640,765, entitled SYSTEM FORDETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICALSTAPLER, now U.S. Patent Application Publication No. 2016/0256160;

U.S. patent application Ser. No. 14/640,799, entitled SIGNAL AND POWERCOMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT, now U.S. PatentApplication Publication No. 2016/0256162; and

U.S. patent application Ser. No. 14/640,780, entitled SURGICALINSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING, now U.S. PatentApplication Publication No. 2016/0256161.

Applicant of the present application owns the following patentapplications that were filed on Feb. 27, 2015, and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/633,576, entitled SURGICALINSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION, now U.S. PatentApplication Publication No. 2016/0249919;

U.S. patent application Ser. No. 14/633,546, entitled SURGICAL APPARATUSCONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICALAPPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND, now U.S. PatentApplication Publication No. 2016/0249915;

U.S. patent application Ser. No. 14/633,560, entitled SURGICAL CHARGINGSYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE BATTERIES, now U.S.Patent Application Publication No. 2016/0249910;

U.S. patent application Ser. No. 14/633,566, entitled CHARGING SYSTEMTHAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY, now U.S.Patent Application Publication No. 2016/0249918;

U.S. patent application Ser. No. 14/633,555, entitled SYSTEM FORMONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED, now U.S.Patent Application Publication No. 2016/0249916;

U.S. patent application Ser. No. 14/633,542, entitled REINFORCED BATTERYFOR A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No.2016/0249908;

U.S. patent application Ser. No. 14/633,548, entitled POWER ADAPTER FORA SURGICAL INSTRUMENT, now U.S. Patent Application Publication No.2016/0249909;

U.S. patent application Ser. No. 14/633,526, entitled ADAPTABLE SURGICALINSTRUMENT HANDLE, now U.S. Patent Application Publication No.2016/0249945;

U.S. patent application Ser. No. 14/633,541, entitled MODULAR STAPLINGASSEMBLY, now U.S. Patent Application Publication No. 2016/0249927; and

U.S. patent application Ser. No. 14/633,562, entitled SURGICAL APPARATUSCONFIGURED TO TRACK AN END-OF-LIFE PARAMETER, now U.S. PatentApplication Publication No. 2016/0249917.

Applicant of the present application owns the following patentapplications that were filed on Dec. 18, 2014 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/574,478, entitled SURGICALINSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANSFOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER, now U.S. PatentApplication Publication No. 2016/0174977;

U.S. patent application Ser. No. 14/574,483, entitled SURGICALINSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now U.S. PatentApplication Publication No. 2016/0174969;

U.S. patent application Ser. No. 14/575,139, entitled DRIVE ARRANGEMENTSFOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Patent ApplicationPublication No. 2016/0174978;

U.S. patent application Ser. No. 14/575,148, entitled LOCKINGARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH

ARTICULATABLE SURGICAL END EFFECTORS, now U.S. Patent ApplicationPublication No. 2016/0174976;

U.S. patent application Ser. No. 14/575,130, entitled SURGICALINSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETENON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now U.S. PatentApplication Publication No. 2016/0174972;

U.S. patent application Ser. No. 14/575,143, entitled SURGICALINSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS, now U.S. PatentApplication Publication No. 2016/0174983;

U.S. patent application Ser. No. 14/575,117, entitled SURGICALINSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAMSUPPORT ARRANGEMENTS, now U.S. Patent Application Publication No.2016/0174975;

U.S. patent application Ser. No. 14/575,154, entitled SURGICALINSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAMSUPPORT ARRANGEMENTS, now U.S. Patent Application Publication No.2016/0174973;

U.S. patent application Ser. No. 14/574,493, entitled SURGICALINSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM, now U.S.Patent Application Publication No. 2016/0174970; and

U.S. patent application Ser. No. 14/574,500, entitled SURGICALINSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM, now U.S.Patent Application Publication No. 2016/0174971.

Applicant of the present application owns the following patentapplications that were filed on Mar. 1, 2013 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 13/782,295, entitled ARTICULATABLESURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION,now U.S. Patent Application Publication No. 2014/0246471;

U.S. patent application Ser. No. 13/782,323, entitled ROTARY POWEREDARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S. PatentApplication Publication No. 2014/0246472;

U.S. patent application Ser. No. 13/782,338, entitled THUMBWHEEL SWITCHARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent ApplicationPublication No. 2014/0249557;

U.S. patent application Ser. No. 13/782,499, entitled ELECTROMECHANICALSURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT, now U.S. Pat. No.9,358,003;

U.S. patent application Ser. No. 13/782,460, entitled MULTIPLE PROCESSORMOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now U.S. PatentApplication Publication No. 2014/0246478;

U.S. patent application Ser. No. 13/782,358, entitled JOYSTICK SWITCHASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,326,767;

U.S. patent application Ser. No. 13/782,481, entitled SENSORSTRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now U.S. Pat.No. 9,468,438;

U.S. patent application Ser. No. 13/782,518, entitled CONTROL METHODSFOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS, now U.S.Patent Application Publication No. 2014/0246475;

U.S. patent application Ser. No. 13/782,375, entitled ROTARY POWEREDSURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM, now U.S. Pat. No.9,398,911; and

U.S. patent application Ser. No. 13/782,536, entitled SURGICALINSTRUMENT SOFT STOP, now U.S. Pat. No. 9,307,986.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 14, 2013 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 13/803,097, entitled ARTICULATABLESURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now U.S. PatentApplication Publication No. 2014/0263542;

U.S. patent application Ser. No. 13/803,193, entitled CONTROLARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now U.S. Pat.No. 9,332,987;

U.S. patent application Ser. No. 13/803,053, entitled INTERCHANGEABLESHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, now U.S. PatentApplication Publication No. 2014/0263564;

U.S. patent application Ser. No. 13/803,086, entitled ARTICULATABLESURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, now U.S. PatentApplication Publication No. 2014/0263541;

U.S. patent application Ser. No. 13/803,210, entitled SENSORARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS,now U.S. Patent Application Publication No. 2014/0263538;

U.S. patent application Ser. No. 13/803,148, entitled MULTI-FUNCTIONMOTOR FOR A SURGICAL INSTRUMENT, now U.S. Patent Application PublicationNo. 2014/0263554;

U.S. patent application Ser. No. 13/803,066, entitled DRIVE SYSTEMLOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. PatentApplication Publication No. 2014/0263565;

U.S. patent application Ser. No. 13/803,117, entitled ARTICULATIONCONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Pat. No.9,351,726;

U.S. patent application Ser. No. 13/803,130, entitled DRIVE TRAINCONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat. No.9,351,727; and

U.S. patent application Ser. No. 13/803,159, entitled METHOD AND SYSTEMFOR OPERATING A SURGICAL INSTRUMENT, now U.S. Patent ApplicationPublication No. 2014/0277017.

Applicant of the present application also owns the following patentapplication that was filed on Mar. 7, 2014 and is herein incorporated byreference in its entirety:

U.S. patent application Ser. No. 14/200,111, entitled CONTROL SYSTEMSFOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No.2014/0263539.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 26, 2014 and are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/226,106, entitled POWER MANAGEMENTCONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Patent ApplicationPublication No. 2015/0272582;

U.S. patent application Ser. No. 14/226,099, entitled STERILIZATIONVERIFICATION CIRCUIT, now U.S. Patent Application Publication No.2015/0272581;

U.S. patent application Ser. No. 14/226,094, entitled VERIFICATION OFNUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT, now U.S. Patent ApplicationPublication No. 2015/0272580;

U.S. patent application Ser. No. 14/226,117, entitled POWER MANAGEMENTTHROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL, now U.S.Patent Application Publication No. 2015/0272574;

U.S. patent application Ser. No. 14/226,075, entitled MODULAR POWEREDSURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES, now U.S. PatentApplication Publication No. 2015/0272579;

U.S. patent application Ser. No. 14/226,093, entitled FEEDBACKALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S.Patent Application Publication No. 2015/0272569;

U.S. patent application Ser. No. 14/226,116, entitled SURGICALINSTRUMENT UTILIZING SENSOR ADAPTATION, now U.S. Patent ApplicationPublication No. 2015/0272571;

U.S. patent application Ser. No. 14/226,071, entitled SURGICALINSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, now U.S. PatentApplication Publication No. 2015/0272578;

U.S. patent application Ser. No. 14/226,097, entitled SURGICALINSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now U.S. Patent ApplicationPublication No. 2015/0272570;

U.S. patent application Ser. No. 14/226,126, entitled INTERFACE SYSTEMSFOR USE WITH SURGICAL INSTRUMENTS, now U.S. Patent ApplicationPublication No. 2015/0272572;

U.S. patent application Ser. No. 14/226,133, entitled MODULAR SURGICALINSTRUMENT SYSTEM, now U.S. Patent Application Publication No.2015/0272557;

U.S. patent application Ser. No. 14/226,081, entitled SYSTEMS ANDMETHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now U.S. Patent ApplicationPublication No. 2015/0277471;

U.S. patent application Ser. No. 14/226,076, entitled POWER MANAGEMENTTHROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION, now U.S.Patent Application Publication No. 2015/0280424;

U.S. patent application Ser. No. 14/226,111, entitled SURGICAL STAPLINGINSTRUMENT SYSTEM, now U.S. Patent Application Publication No.2015/0272583; and

U.S. patent application Ser. No. 14/226,125, entitled SURGICALINSTRUMENT COMPRISING A ROTATABLE SHAFT, now U.S. Patent ApplicationPublication No. 2015/0280384.

Applicant of the present application also owns the following patentapplications that were filed on Sep. 5, 2014 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/479,103, entitled CIRCUITRY ANDSENSORS FOR POWERED MEDICAL DEVICE, now U.S. Patent ApplicationPublication No. 2016/0066912;

U.S. patent application Ser. No. 14/479,119, entitled ADJUNCT WITHINTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now U.S. PatentApplication Publication No. 2016/0066914;

U.S. patent application Ser. No. 14/478,908, entitled MONITORING DEVICEDEGRADATION BASED ON COMPONENT EVALUATION, now U.S. Patent ApplicationPublication No. 2016/0066910;

U.S. patent application Ser. No. 14/478,895, entitled MULTIPLE SENSORSWITH ONE SENSOR AFFECTING A SECOND SENSOR′S OUTPUT OR INTERPRETATION,now U.S. Patent Application Publication No. 2016/0066909;

U.S. patent application Ser. No. 14/479,110, entitled POLARITY OF HALLMAGNET TO DETECT MISLOADED CARTRIDGE, now U.S. Patent ApplicationPublication No. 2016/0066915;

U.S. patent application Ser. No. 14/479,098, entitled SMART CARTRIDGEWAKE UP OPERATION AND DATA RETENTION, now U.S. Patent ApplicationPublication No. 2016/0066911;

U.S. patent application Ser. No. 14/479,115, entitled MULTIPLE MOTORCONTROL FOR POWERED MEDICAL DEVICE, now U.S. Patent ApplicationPublication No. 2016/0066916; and

U.S. patent application Ser. No. 14/479,108, entitled LOCAL DISPLAY OFTISSUE PARAMETER STABILIZATION, now U.S. Patent Application PublicationNo. 2016/0066913.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 9, 2014 and which are each hereinincorporated by reference in their respective entirety:

U.S. patent application Ser. No. 14/248,590, entitled MOTOR DRIVENSURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now U.S. PatentApplication Publication No. 2014/0305987;

U.S. patent application Ser. No. 14/248,581, entitled SURGICALINSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROMTHE SAME ROTATABLE OUTPUT, now U.S. Patent Application Publication No.2014/0305989;

U.S. patent application Ser. No. 14/248,595, entitled SURGICALINSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THESURGICAL INSTRUMENT, now U.S. Patent Application Publication No.2014/0305988;

U.S. patent application Ser. No. 14/248,588, entitled POWERED LINEARSURGICAL STAPLER, now U.S. Patent Application Publication No.2014/0309666;

U.S. patent application Ser. No. 14/248,591, entitled TRANSMISSIONARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Patent ApplicationPublication No. 2014/0305991;

U.S. patent application Ser. No. 14/248,584, entitled MODULAR MOTORDRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARYDRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS, now U.S. PatentApplication Publication No. 2014/0305994;

U.S. patent application Ser. No. 14/248,587, entitled POWERED SURGICALSTAPLER, now U.S. Patent Application Publication No. 2014/0309665;

U.S. patent application Ser. No. 14/248,586, entitled DRIVE SYSTEMDECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. PatentApplication Publication No. 2014/0305990; and

U.S. patent application Ser. No. 14/248,607, entitled MODULAR MOTORDRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS, nowU.S. Patent Application Publication No. 2014/0305992.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 16, 2013 and which are each hereinincorporated by reference in their respective entirety:

U.S. Provisional Patent Application Ser. No. 61/812,365, entitledSURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR;

U.S. Provisional Patent Application Ser. No. 61/812,376, entitled LINEARCUTTER WITH POWER;

U.S. Provisional Patent Application Ser. No. 61/812,382, entitled LINEARCUTTER WITH MOTOR AND PISTOL GRIP;

U.S. Provisional Patent Application Ser. No. 61/812,385, entitledSURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTORCONTROL; and

U.S. Provisional Patent Application Ser. No. 61/812,372, entitledSURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR.

Numerous specific details are set forth to provide a thoroughunderstanding of the overall structure, function, manufacture, and useof the embodiments as described in the specification and illustrated inthe accompanying drawings. Well-known operations, components, andelements have not been described in detail so as not to obscure theembodiments described in the specification. The reader will understandthat the embodiments described and illustrated herein are non-limitingexamples, and thus it can be appreciated that the specific structuraland functional details disclosed herein may be representative andillustrative. Variations and changes thereto may be made withoutdeparting from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and“comprising”), “have” (and any form of have, such as “has” and“having”), “include” (and any form of include, such as “includes” and“including”) and “contain” (and any form of contain, such as “contains”and “containing”) are open-ended linking verbs. As a result, a surgicalsystem, device, or apparatus that “comprises,” “has,” “includes” or“contains” one or more elements possesses those one or more elements,but is not limited to possessing only those one or more elements.Likewise, an element of a system, device, or apparatus that “comprises,”“has,” “includes” or “contains” one or more features possesses those oneor more features, but is not limited to possessing only those one ormore features.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” refers to the portion closest to the clinician andthe term “distal” refers to the portion located away from the clinician.It will be further appreciated that, for convenience and clarity,spatial terms such as “vertical”, “horizontal”, “up”, and “down” may beused herein with respect to the drawings. However, surgical instrumentsare used in many orientations and positions, and these terms are notintended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, thereader will readily appreciate that the various methods and devicesdisclosed herein can be used in numerous surgical procedures andapplications including, for example, in connection with open surgicalprocedures. As the present Detailed Description proceeds, the readerwill further appreciate that the various instruments disclosed hereincan be inserted into a body in any way, such as through a naturalorifice, through an incision or puncture hole formed in tissue, etc. Theworking portions or end effector portions of the instruments can beinserted directly into a patient's body or can be inserted through anaccess device that has a working channel through which the end effectorand elongate shaft of a surgical instrument can be advanced.

A surgical stapling system can comprise a shaft and an end effectorextending from the shaft. The end effector comprises a first jaw and asecond jaw. The first jaw comprises a staple cartridge. The staplecartridge is insertable into and removable from the first jaw; however,other embodiments are envisioned in which a staple cartridge is notremovable from, or at least readily replaceable from, the first jaw. Thesecond jaw comprises an anvil configured to deform staples ejected fromthe staple cartridge. The second jaw is pivotable relative to the firstjaw about a closure axis; however, other embodiments are envisioned inwhich the first jaw is pivotable relative to the second jaw. Thesurgical stapling system further comprises an articulation jointconfigured to permit the end effector to be rotated, or articulated,relative to the shaft. The end effector is rotatable about anarticulation axis extending through the articulation joint. Otherembodiments are envisioned which do not include an articulation joint.

The staple cartridge comprises a cartridge body. The cartridge bodyincludes a proximal end, a distal end, and a deck extending between theproximal end and the distal end. In use, the staple cartridge ispositioned on a first side of the tissue to be stapled and the anvil ispositioned on a second side of the tissue. The anvil is moved toward thestaple cartridge to compress and clamp the tissue against the deck.Thereafter, staples removably stored in the cartridge body can bedeployed into the tissue. The cartridge body includes staple cavitiesdefined therein wherein staples are removably stored in the staplecavities. The staple cavities are arranged in six longitudinal rows.Three rows of staple cavities are positioned on a first side of alongitudinal slot and three rows of staple cavities are positioned on asecond side of the longitudinal slot. Other arrangements of staplecavities and staples may be possible.

The staples are supported by staple drivers in the cartridge body. Thedrivers are movable between a first, or unfired position, and a second,or fired, position to eject the staples from the staple cavities. Thedrivers are retained in the cartridge body by a retainer which extendsaround the bottom of the cartridge body and includes resilient membersconfigured to grip the cartridge body and hold the retainer to thecartridge body. The drivers are movable between their unfired positionsand their fired positions by a sled. The sled is movable between aproximal position adjacent the proximal end and a distal positionadjacent the distal end. The sled comprises a plurality of rampedsurfaces configured to slide under the drivers and lift the drivers, andthe staples supported thereon, toward the anvil.

Further to the above, the sled is moved distally by a firing member. Thefiring member is configured to contact the sled and push the sled towardthe distal end. The longitudinal slot defined in the cartridge body isconfigured to receive the firing member. The anvil also includes a slotconfigured to receive the firing member. The firing member furthercomprises a first cam which engages the first jaw and a second cam whichengages the second jaw. As the firing member is advanced distally, thefirst cam and the second cam can control the distance, or tissue gap,between the deck of the staple cartridge and the anvil. The firingmember also comprises a knife configured to incise the tissue capturedintermediate the staple cartridge and the anvil. It is desirable for theknife to be positioned at least partially proximal to the rampedsurfaces such that the staples are ejected ahead of the knife.

A shaft assembly 1000 is illustrated in FIG. 1. The shaft assembly 1000comprises an attachment portion 1100, a shaft 1200 extending distallyfrom the attachment portion 1100, and an end effector 1300 attached tothe shaft 1200. Referring to FIGS. 1 and 2, the attachment portion 1100comprises a frame 1110, a housing 1120, and a latch 1130. The frame 1110is configured to engage the frame of a surgical system, such as thehandle of a surgical instrument and/or the arm of a surgical robot, forexample. In at least one instance, the frame 1110 and the frame of thesurgical system comprise an interlocking dovetail arrangement, forexample. The latch 1130 comprises a lock configured to releasably holdthe shaft assembly 1000 to the surgical system. As a result of theabove, the shaft assembly 1000 can be selectively used with a hand-heldsurgical instrument and, alternatively, a remotely-controlled roboticsurgical system.

Referring to FIGS. 3-6, the shaft 1200 comprises a frame, or spine,attached to the frame 1110 of the attachment portion 1100. The spinecomprises a proximal spine portion 1210 rotatably engaged with the frame1110 about a longitudinal shaft axis 1001 extending through the spine.Referring primarily to FIG. 6, the proximal spine portion 1210 comprisesan aperture 1211 defined therein configured to receive a proximal end1221 of a drive cover 1220. The drive cover 1220 further comprises adistal end 1222 configured to be positioned within a proximal end 1232of an intermediate spine portion 1230. The spine further comprises anupper distal portion 1250 and a lower distal portion 1260 engaged with adistal end 1231 of the spine portion 1230. More specifically, the distalportions 1250 and 1260 comprise proximal ends 1251 and 1261,respectively, which are laterally inserted, or slid, into a dovetailslot defined in the distal end 1231 of the intermediate spine portion1230. The spine further comprises a cover 1240 configured to enclose anopening defined in the spine portion 1230 and/or lock the distalportions 1250 and 1260 into place.

Referring primarily to FIG. 7, the end effector 1300 comprises a channeljaw 1310 and an anvil jaw 1330 rotatably mounted to the channel jaw1310. The channel jaw 1310 is configured to receive a staple cartridge1320, or any other suitable staple cartridge, therein. The channel jaw1310 and the staple cartridge 1320 comprise co-operating alignmentfeatures which are configured to permit the staple cartridge 1320 to beseated in only one proper position and orientation within the channeljaw 1310. Once an unspent staple cartridge 1320 is properly seated inthe channel jaw 1310, a staple firing member can be advanced through thestaple cartridge 1320 to eject the staples from the staple cartridge1320 and cut the tissue of a patient positioned intermediate the staplecartridge 1320 and the anvil jaw 1330, as described in greater detailbelow. Further to the above, the anvil jaw 1330 comprises formingpockets defined therein which are configured to deform the staples asthey are ejected from the staple cartridge 1320.

Referring primarily to FIG. 7, the channel jaw 1310 of the end effector1300 is rotatably coupled to the spine of the shaft 1200 about anarticulation joint 1660. The channel jaw 1310 comprises an articulationframe 1270 attached thereto which comprises pins 1271 extendinglaterally therefrom which are positioned within apertures 1311 definedin the cartridge channel 1310. The pins 1271 and the apertures 1311 aresized and configured to securely mount the articulation frame 1270 tothe cartridge channel 1310. The articulation frame 1270 comprises anarticulation aperture defined therein and the distal end of the spinecomprises an articulation post 1262 positioned within the articulationaperture. The articulation post 1262 is sized and configured such thatit is closely received within the articulation aperture and such thatrelative movement between the articulation frame 1270 and the spine ofthe shaft 1200 is limited to rotational motion about an axis which isorthogonal to the shaft axis 1001.

Further to the above, referring again to FIG. 1, the shaft assembly 1000further comprises an outer frame 1600. Referring now to FIG. 2, theouter frame 1600 is rotatable relative to the frame 1110 of theattachment portion 1100 about a slip joint. The slip joint includes aproximal flange 1610 which is parallel, or at least substantiallyparallel, to a corresponding flange 1111 defined on the frame 1110. Inaddition to providing a rotatable mechanical interface, the slip jointalso provides a rotatable electrical interface. More specifically, theslip joint comprises electrical traces 1190 defined on the flange 1111and, in addition, an electrical connector 1690 attached to the flange1610 which comprises electrical contacts engaged with the traces 1190.In various instances, the electrical traces 1190 comprise conductiveannular rings which are electrically isolated from one another and areeach part of a discrete electrical circuit. When the outer frame 1600 isrotated relative to the frame 1110, the contacts of the electricalconnector 1690 remain in electrical contact with the traces 1190.Referring to FIG. 5, the latch 1130 of the attachment portion 1100further comprises an electrical connector 1192 in electricalcommunication with the traces 1190 which can be placed in electricalcommunication with a surgical system when the latch 1130 couples theshaft assembly 1000 to the surgical system. As a result of the above,sensors in the shaft assembly 1000 can communicate with a controllerand/or microprocessor in the handle of the surgical instrument and,alternatively, the surgical robot through the slip joint.

The outer frame 1600 further comprises a tube 1620 extending distallyfrom the proximal flange 1610 and, further to the above, the housing1120 of the attachment portion 1100 is mounted to the tube 1620. Thehousing 1120 comprises finger grips 1128 defined therein which areconfigured to assist a clinician in rotating the housing 1120 and thetube 1620 about the longitudinal shaft axis 1001. The outer frame 1600further comprises a distal tube portion 1630 which is rotatably mountedto the tube 1620. More specifically, referring primarily to FIG. 7, theouter frame 1600 further comprises links 1640 which connect the distaltube portion 1630 to the tube 1620 and provide one or more degrees offreedom between the distal tube portion 1630 and the tube 1620. Such oneor more degrees of freedom between the distal tube portion 1630 and thetube 1620 permit the end effector 1300 to articulate relative to theshaft 1200 about the articulation joint 1660. As a result of the above,the outer frame 1600 is rotatable about the longitudinal shaft axis androtatable about the articulation joint 1660. That said, the outer frame1600 is not translatable longitudinally relative to the frame 1110 ofthe attachment portion 1100.

Referring primarily to FIG. 5, the shaft assembly 1000 further comprisesan articulation system 1400 configured to articulate the end effector1300 relative to the shaft 1200. In addition, the shaft assembly 1000also comprises a firing system 1500 configured to, one, close the anviljaw 1330 of the end effector 1300 and, two, fire the staples stored inthe staple cartridge 1320, as discussed above. As discussed in greaterdetail below, the articulation system 1400 is selectively engageablewith the firing system 1500 such that the articulation system 1400 canbe driven by the firing system 1500 to articulate the end effector 1300.Once the end effector 1300 has been sufficiently articulated, thearticulation system 1400 can be operably disengaged from the firingsystem 1500. At such point, the firing system 1500 can be operatedindependently of the articulation system 1400. As also discussed ingreater detail below, the shaft assembly 1000 further comprises anarticulation lock system which, one, locks the end effector 1300 inposition and, two, switches the shaft assembly 1000 between anarticulation operating mode and a firing operating mode.

Referring primarily to FIG. 9, the firing system 1500 comprises a firingrod 1510 which is translatable proximally and distally during thearticulation operating mode and/or the firing operating mode of theshaft assembly 1000. The firing rod 1510 comprises a proximal end 1511which is operably engageable with the drive system of a surgical system,such as the handle of a surgical instrument and/or the arm of a surgicalrobot, for example. The firing system 1500 further comprises a rack 1520fixedly mounted to the firing rod 1510 such that the rack 1520 istranslatable with the firing rod 1510. The firing rod 1510 extendsthrough a longitudinal aperture 1521 defined in the rack 1520. Moreover,the rack 1520 is fixedly mounted to the firing rod 1510 such that therack 1520 and firing rod 1510 are rotatable together about thelongitudinal shaft axis. The articulation system 1400 further comprisesan articulation driver 1420 which is mounted to the rack 1520 such thatthe rack 1520 is translatable, or longitudinally slidable, relative tothe articulation driver 1420. That said, the articulation driver 1420 ismounted to the rack 1520 such that the articulation driver 1420, therack 1520, and the firing rod 1510 rotate together about thelongitudinal shaft axis 1001.

Further to the above, referring primarily to FIGS. 9, 21, and 23, therack 1520 comprises longitudinal slots 1522 defined on opposite sidesthereof and the articulation driver 1420 comprises projections 1422positioned in the longitudinal slots 1522. The slots 1522 and theprojections 1422 are configured to permit the rack 1520 to moveproximally and distally relative to the articulation driver 1420. Morespecifically, the articulation driver 1420 is mounted within theattachment portion 1100 of the shaft assembly 1000 such that thearticulation driver 1420 is prevented from translating, or at leastsubstantially translating, longitudinally relative to the frame 1110 ofthe attachment portion 1100 and, when the rack 1520 is movedlongitudinally to drive the articulation system 1400 and/or the firingsystem 1500 of the shaft assembly 1000, the rack 1520 can movelongitudinally relative to the articulation driver 1420. That said, asdescribed in greater detail below, the slots 1522 and the projections1422 are configured to transmit rotational motion from the articulationdriver 1420 to the rack 1520.

Referring primarily to FIG. 8, the articulation system 1400 furthercomprises, one, a shifter 1430 mounted to the firing rod 1510 and, two,an articulation driver 1440. The shifter 1430 is fixedly mounted to thefiring rod 1510 such that the shifter 1430 is translated longitudinallywith the firing rod 1510. Moreover, the shifter 1430 is fixedly mountedto the firing rod 1510 such that the shifter 1430 is rotatable with thefiring rod 1510. The shifter 1430 comprises a longitudinal rack of teeth1431 and, similarly, the articulation driver 1440 comprises alongitudinal rack of teeth 1441. When the shaft assembly 1000 is in itsarticulation operating mode, referring to FIGS. 16, 18, 20, and 21, theteeth 1441 of the articulation driver 1440 are meshingly engaged withthe teeth 1431 of the shifter 1430. In such a configuration, thelongitudinal movement of the firing rod 1510 can be transmitted to thearticulation driver 1440.

Referring primarily to FIG. 30, the articulation driver 1440 furthercomprises a distal end 1443 which has an elongate aperture definedtherein. The articulation frame 1270 of the end effector 1300, which ismounted to the channel jaw 1310, comprises an articulation pin 1444extending therefrom which is positioned in the aperture defined in thedistal end 1443. When the shaft assembly 1000 is in its articulationoperating mode and the firing rod 1510 is advanced distally, the firingrod 1510 pushes the articulation driver 1440 and the articulation pin1444 distally to articulate the end effector 1300 in a first direction,as illustrated in FIG. 31. When the firing rod 1510 is pulledproximally, the firing rod pulls the articulation driver 1440 and thearticulation pin 1444 proximally to articulate the end effector 1300 ina second direction which is opposite to the first direction. In use, aclinician can operate the surgical system to push and/or pull thearticulation driver 1440 to rotate the end effector 1300 into a desiredorientation.

Referring again to FIG. 30, the articulation system 1400 furthercomprises a second articulation driver 1450 and a transfer gear 1470.The transfer gear 1470 is mounted to the spine of the shaft 1200 and isrotatable about a fixed axis. Moreover, the transfer gear 1470 ismeshingly engaged with a longitudinal rack of teeth 1442 defined on thearticulation driver 1440. Similarly, the second articulation driver 1450comprises a longitudinal rack of teeth 1452 meshingly engaged with thetransfer gear 1470. The second articulation driver 1450 furthercomprises a distal end 1453 which has an elongate aperture definedtherein. The articulation frame 1270 of the end effector 1300 furthercomprises an articulation pin 1454 extending therefrom which ispositioned in the aperture defined in the distal end 1453. When thearticulation driver 1440 is advanced distally by the firing rod 1510, asillustrated in FIG. 31, the articulation driver 1440 rotates thetransfer gear 1470 which, in turn, drives the articulation driver 1450and the articulation pin 1454 proximally. As a result, the articulationdrivers 1440 and 1450 co-operate to rotate the end effector 1300 in thesame direction. When the articulation driver 1440 is pulled proximallyby the firing rod 1510, the articulation driver 1440 rotates thetransfer gear 1470 in an opposite direction which, correspondingly,pushes the articulation driver 1450 and the articulation pin 1454distally.

Once the end effector 1300 is in a desired orientation, the end effector1300 can be locked in position. Referring primarily to FIGS. 5 and 7-9,the shaft assembly 1000 further comprises an articulation lock bar 1480and an articulation lock actuator 1410. The articulation lock bar 1480comprises a proximal end 1481 mounted to the articulation lock actuator1410. When the articulation lock actuator 1410 is moved from a proximalposition (FIG. 32) to a distal position (FIG. 33), the articulation lockactuator 1410 pushes the lock bar 1480 distally. When the articulationlock actuator 1410 is moved from a distal position (FIG. 33) to aproximal position (FIG. 32), the articulation lock actuator 1410 pullsthe lock bar 1480 proximally. Referring primarily to FIG. 9, thearticulation lock actuator 1410 comprises a proximal drive hook 1411which is operably engageable with an actuator of a surgical system whichcan move the articulation lock actuator 1410 proximally and distally asdescribed above.

Referring to FIGS. 32 and 33, the shaft assembly 1000 further comprisesan articulation lock 1494 mounted to the spine of the shaft 1200. Thearticulation lock 1494 comprises first and second lock arms 1495extending therefrom. Referring to FIG. 32, a distal end 1482 of thearticulation lock bar 1480 is not engaged with the lock arms 1495 whenthe articulation lock actuator 1410 is in its proximal position. In suchinstances, the end effector 1300 is in an unlocked configuration and isrotatable relative to the spine of the shaft 1200. When the articulationlock bar 1480 is advanced distally by articulation lock actuator 1410,referring to FIG. 33, the distal end 1482 of the articulation lock bar1480 engages the lock arms 1495 and displaces the lock arms 1495 intoengagement with the articulation drivers 1440 and 1450. Referringprimarily to FIG. 7, the articulation driver 1440 comprises alongitudinal rack of teeth 1445 which is engaged by a lock arm 1495 whenthe lock arms 1495 are displaced outwardly by the articulation lock bar1480. Similarly, the articulation driver 1450 comprises a longitudinalrack of teeth 1455 which is engaged by the other lock arm 1495 when thelock arms 1495 are displaced outwardly by the articulation lock bar1480. In such instances, the end effector 1300 is in a lockedconfiguration and is not rotatable relative to the spine of the shaft1200.

The movement of the articulation lock actuator 1410 from its proximalposition (FIG. 32) to its distal position (FIG. 33) does more than lockthe end effector 1300 in position—it also shifts the shaft assembly 1000from its articulation operating mode (FIGS. 16, 18, 20, and 21) to isfiring operating mode (FIGS. 17, 19, 22, and 23). Referring primarily toFIG. 9, the articulation lock actuator 1410 comprises one or more driveprojections 1415 which extend inwardly into a longitudinal aperture 1414defined in the articulation lock actuator 1410. The longitudinalaperture 1414 surrounds, or at least substantially surrounds, thearticulation driver 1420 and drive projections 1415 are positionedwithin a cam groove 1425 defined in the outer surface of thearticulation driver 1420. When the articulation lock actuator 1410 isadvanced distally, further to the above, the drive projections 1415rotate the articulation driver 1420, the rack 1520, and the firing rod1510 from their orientation depicted in FIG. 16 to their orientationdepicted in FIG. 17. In such instances, the teeth 1431 of the shifter1430 are rotated out of operable engagement with the teeth 1441 of thearticulation driver 1440 and, as a result, the articulation system 1400is operably decoupled from the firing system 1500. Thus, the distalmovement of the articulation lock actuator 1410 locks the end effector1300 in position and transitions the shaft assembly 1000 into is firingoperating mode. In various instances, the articulation lock actuator1410 can be pulled proximally to shift the shaft assembly 1000 back intoits articulation operating mode.

Once the articulation system 1400 has been operably decoupled from thefiring system 1500, as described above, the firing system 1500 can beadvanced distally to perform a closure stroke to close the anvil jaw1330 and, in addition, to perform a firing stroke which ejects thestaples from the staple cartridge 1320 and cuts the tissue capturedbetween the staple cartridge 1320 and the anvil jaw 1330. Referring toFIGS. 7-9, the firing system 1500 further comprises an intermediatefiring rod 1530 and a firing bar 1550. As described in greater detailbelow, the firing rod 1510 is operably engageable with the intermediatefiring rod 1530 such that the longitudinal movement of the firing rod1510 is transferable to the intermediate firing rod 1530. The firing bar1550 comprises a proximal end 1552 positioned in a longitudinal aperture1532 defined in the distal end of the distal firing rod 1510.

When the intermediate firing rod 1530 is pushed distally by the firingrod 1510, referring to FIG. 11, the intermediate firing rod 1530 pushesthe firing bar 1550 distally to engage the anvil jaw 1330 and move theanvil jaw 1330 toward its closed, or clamped, position, as illustratedin FIG. 12. This distal movement of the firing bar 1550 represents aclosure stroke. If the clinician is not satisfied with the positioningof the tissue between the staple cartridge 1320 and the clamped anviljaw 1330, the clinician can operate the surgical system to retract thefiring bar 1550. In such instances, a spring compressed between thestaple cartridge 1320 and the clamped anvil jaw 1330 can act to open thejaw 1330.

If the clinician is satisfied with the positioning of the tissue betweenthe staple cartridge 1320 and the clamped anvil jaw 1330, further to theabove, the clinician can operate the surgical system to advance thefiring bar 1550 through the staple cartridge 1320 to eject the staplestherefrom and transect the tissue. This distal movement of the firingbar 1550 represents a firing stroke and the initiation of the firingstoke is depicted in FIG. 13. In the present instance, the closurestroke and the firing stroke are separate and distinct. The surgicalsystem which is being used to operate the firing system 1500 paused, oris paused, between the closure stroke and the firing stroke which givesa clinician an opportunity to retract the firing bar 1550 and re-openthe anvil jaw 1330 if they so choose. In other instances, the closurestroke and the firing stroke are not separate and distinct. Instead, thesurgical system transitions immediately from the closure stroke to thefiring stroke. In either event, referring to FIG. 14, the surgicalsystem can be operated to retract the firing bar 1550 to its unfiredposition and allow the spring to re-open the anvil jaw 1330.

As discussed above, the firing rod 1510 is used to drive thearticulation system 1400 and the firing system 1500. Without more, itmay seem that the firing rod 1510 moves the firing bar 1550 at the sametime that the firing rod 1510 is used to operate the articulation system1400; however, referring to FIGS. 24-29, the shaft assembly 1000 furthercomprises a clutch 1540 configured to operably couple the firing rod1510 with the intermediate firing rod 1530 when the clutch 1540 is in afiring configuration (FIG. 26) and operably decouple the firing rod 1510from the intermediate firing rod 1530 when the clutch 1540 is in anarticulation configuration (FIG. 29). The clutch 1540 is configured suchthat it is in its articulation configuration (FIG. 29) when the shaftassembly 1000 is in its articulation operating mode and,correspondingly, in its firing configuration (FIG. 26) when the shaftassembly 1000 is in its firing operating mode.

Referring primarily to FIG. 24, the firing rod 1510 comprises a distalpiston 1515 slidably positioned in a cylinder 1535 defined in theintermediate firing rod 1530. The clutch 1540 comprises a cantileverbeam 1543 fixedly mounted to the intermediate firing rod 1530 and, inaddition, a cam head 1544 slidably positioned in a lateral slot 1534defined in the intermediate firing rod 1530. The cam head 1544 comprisesan aperture 1545 defined therein which is configured to receive thedistal piston 1515 of the firing rod 1510 therein.

When the shaft assembly 1000 is in its articulation operating mode andthe clutch 1540 is in its articulation configuration, referring to FIG.29, at least a portion of the distal piston 1515 is positioned in aproximal portion 1531 of the cylinder 1535 defined in the intermediatefiring rod 1530. Another portion of the distal piston 1515, in suchinstances, is positioned in the aperture 1545 defined in the cam head1544 of the clutch 1540. Although the sidewalls of the aperture 1545 maybe in contact with the side of the distal piston 1515, in suchinstances, the piston 1515 is movable relative to the clutch 1540 andthe intermediate firing rod 1530 without transmitting, or at leastsubstantially transmitting, the motion of the firing rod 1510 to theintermediate firing rod 1530. As a result, the firing rod 1510 does notdisplace the firing bar 1550 distally when the firing rod 1510 is beingused to drive the articulation system 1400. In certain instances, a gapcan be present between the proximal end 1552 of the firing bar 1550 andthe longitudinal end walls of the aperture 1532 to accommodate a certainamount of movement that the intermediate firing rod 1530 may experiencewhen the shaft assembly 1000 is in its articulation operating mode.

Further to the above, referring again to FIG. 29, the cantilever beam1543 of the clutch 1540 is deflected, or resiliently bent, laterallywhen the clutch 1540 is in its articulation configuration. This is thecase because the aperture 1545 defined in the cam head 1544 is notnaturally aligned with the distal piston 1515 and, when the distalpiston 1515 is positioned in the aperture 1545, the cam head 1544 isdisplaced laterally, and the beam 1543 is deflected laterally, in orderto accommodate this forced alignment. When the shaft assembly 1000 isplaced in its firing operating mode and the firing rod 1510 is advanceddistally, the distal piston 1515 moves distally relative to the cam head1544 until the distal piston 1515 entirely passes through the aperture1545. At such point, referring to FIG. 26, the clutch 1540 resilientlyreturns to an unflexed state and places the clutch 1540 in its firingconfiguration. Notably, in such instances, the cam head 1544 shiftslaterally and locks behind a proximal shoulder of the distal piston 1515to hold the distal piston 1515 in the cylinder 1535. As a result, theclutch 1540 locks the firing rod 1510 to the intermediate firing rod1530 throughout the operation of the firing assembly 1500 such that thelongitudinal movement of the firing rod 1510 is transmitted to theintermediate firing rod 1530 during the firing stroke.

Further to the above, the clutch 1540 continues to hold the firing rod1510 and the intermediate firing rod 1530 together after the firingstroke has been completed, or at least partially completed. As a result,the firing rod 1510 can be moved proximally to retract the intermediatefiring rod 1530 and the firing bar 1550 proximally. In variousinstances, the spent staple cartridge 1320 can be removed from the endeffector 1300 and an unspent staple cartridge 1320, for example, can beseated in the channel jaw 1310. If the clinician is still satisfied withthe orientation of the end effector 1300, the clinician can operate thefiring assembly 1500 once again. If, however, the clinician would liketo change the orientation of the end effector 1300, the clinician canoperate the surgical system to retract the firing rod 1510 furtherproximally and decouple the firing rod 1510 from the intermediate firingrod 1530 to re-enter the articulation operating mode of the shaftassembly 1000. This transition is described in greater detail below.

Referring to FIGS. 27 and 28, the spine of the shaft assembly 1000comprises a cam 1234 which is configured to deflect the cam head 1544 ofthe clutch 1540 laterally when the cam head 1544 contacts the cam 1234as the intermediate firing rod 1530 is being retracted proximally. Oncethe cam head 1544 is deflected laterally, the aperture 1545 defined inthe cam head 1544 is realigned with the distal piston 1515 and, as aresult, the distal piston 1515 is released from the clutch 1540 and canmove proximally relative to the cam 1540 into its articulationconfiguration (FIG. 29). At such point, the firing rod 1510 can be usedto operate the articulation system 1400 to re-orient the end effector1300. Once the clinician is satisfied with the orientation of the endeffector 1300, the clinician can use the surgical system to advance thedistal piston 1515 distally to shift the clutch 1540 into its firedconfiguration once again. Moreover, it should be appreciated that theclutch 1540 can be shifted from its firing configuration and itsarticulation configuration whenever the clinician desires to switchbetween the firing and articulation operating modes of the shaftassembly 1000.

As discussed above, referring now to FIGS. 10-12, the firing bar 1550 ismovable distally to move the anvil jaw 1330 from an open position (FIG.11) into, or at least toward, a closed position (FIG. 12) during theclosure stroke of the firing assembly 1500. The firing bar 1550comprises an anvil cam 1564 configured to engage the anvil jaw 1330 and,in addition, a cartridge cam 1563 configured to engage the channel jaw1310. The anvil jaw 1330 comprises a longitudinal slot 1334 definedtherein which includes a bottom cam surface. Similarly, the channel jaw1310 comprises a longitudinal slot 1313 defined therein which includesan upper cam surface. When the firing bar 1550 is advanced distally, theanvil cam 1564 can engage the bottom cam surface of the longitudinalslot 1334 and the cartridge cam 1563 can engage the upper cam surface ofthe longitudinal slot 1313 to co-operatively control the position of theanvil jaw 1330 relative to the staple cartridge 1320.

As discussed above, the anvil jaw 1330 is rotatably coupled to thechannel jaw 1310. In at least one instance, the anvil jaw 1330 ismounted to the channel jaw 1310 by one or more pins and is pivotableabout a fixed axis. In other instances, the anvil jaw 1330 is notmounted to the channel jaw 1310 about a fixed axis. In at least one suchinstance, the anvil jaw 1330 is translatable relative to the channel jaw1310 as the anvil jaw 1330 is being rotated relative to the channel jaw1310. In either event, the cartridge jaw 1310 can be referred to as afixed jaw even though the cartridge jaw 1310 is rotatable, orarticulatable, about the articulation joint 1660. In this context, theterm fixed means that the surgical system 1000 does not rotate thechannel jaw 1310 between an open and closed position. Alternativeembodiments are envisioned in which the cartridge jaw 1310 is rotatablerelative to the anvil jaw 1330. In such instances, the anvil jaw 1330can be a fixed jaw.

Referring to FIG. 7, the anvil jaw 1330 is comprised of severalcomponents that have been assembled together. More specifically, theanvil jaw 1330 includes one or more lateral side plates 1333 that havebeen attached thereto. In at least one instance, the anvil jaw 1330 andthe side plates 1333 are comprised of steel and have been weldedtogether, for example. Among other things, such an arrangement cansimplify the manufacturing process used to create the longitudinal slot1334 defined in the anvil jaw 1330. In at least one instance, a portionof the longitudinal slot 1334 can be formed into a side plate 1333before the side plate 1333 is attached to the anvil jaw 1330. In variousinstances, the bottom cam surface of the longitudinal slot 1334comprises a curved contour which can be formed in the side plates 1333using a grinding process, for example. Moreover, in certain instances,the side plates 1333 can be subjected to a heat treating process whichis different than the rest of the anvil jaw 1330. The above being said,the anvil jaw 1330 can be formed using any suitable manufacturingprocess

Further to the above, the staple cartridge 1320 comprises a cartridgebody 1322 and a sled 1360 movably positioned in the cartridge body 1322.The sled 1360 is movable between a proximal, unfired position (FIGS. 10,11, and 12) and a distal, fired position by the firing bar 1550. Morespecifically, the firing bar 1550 comprises a coupling member 1560mounted to the distal end thereof which is configured to abut the sled1360 and move the sled 1360 distally during the firing stroke. Notably,however, the coupling member 1560 does not abut the sled 1360 during theclosure stroke of the firing member 1550. As a result, the firing member1550 can be moved proximally and distally to open and close the anviljaw 1330 without displacing the sled 1360 distally. As a result, thestaple cartridge 1320 remains in an unspent state regardless of thenumber of times that the anvil jaw 1330 is opened and closed before thefiring stroke is performed.

Further to the above, the staple cartridge 1320 is replaceable. As aresult, various instances can arise when a staple cartridge is notpositioned in the channel jaw 1310. Moreover, instances can arise when aspent staple cartridge is positioned in the channel jaw 1310. Referringnow to FIGS. 10-15, the shaft assembly 1000 comprises a lockoutconfigured to prevent the firing stroke from being initiated when eithercondition exists. The lockout comprises a lock 1570 which is rotatablymounted to the firing bar 1550 and is movable between an unlockedposition (FIGS. 10-14) and a locked position (FIG. 15). The lock 1570comprises lateral ledges 1572 pivotably mounted to the opposite lateralsides of the coupling member 1560 which provide an axis of rotationabout which the lock 1570 is rotated. When the firing bar 1550 is movedlongitudinally to open and close the anvil jaw 1330, referring to FIGS.10-12, the channel jaw 1310 holds the lock 1570 in an unlocked position.

When the firing stroke of the firing bar 1550 is initiated, referring toFIG. 13, the sled 1360 is configured to support the lock 1570 in itsunlocked position when the sled 1360 is in its proximal, unfiredposition. More specifically, the sled 1360 comprises a proximal ledge1365 which is configured to support a distal shoulder 1575 of the lock1570 as the lock 1570 approaches a lock recess 1315 defined in thechannel jaw 1310. Stated another way, the sled 1360 can prevent the lock1570 from entering the lock recess 1315, but only if the sled 1360 is inits proximal, unfired position. Once the distal shoulder 1575 issupported by the proximal ledge 1365 of the sled 1360 at the initiationof the firing stroke, the proximal ledge 1365 can continue to supportthe distal shoulder 1575 throughout the firing stroke. That said, oncethe lock 1570 has been moved distally with respect to the lock recess1315, the lock 1570 cannot enter into the lock recess 1315 and the ledge1365 is not needed to support the shoulder 1575 throughout the remainderof the firing stroke.

Referring again to FIGS. 10-13, the lockout further comprises a lockspring 1370 configured to bias the lock 1570 into the lock recess 1315.The lock spring 1370 comprises a proximal end 1371 fixedly mounted tothe articulation frame 1270 and, in addition, a distal end 1375positioned opposite the proximal end 1371. When the firing bar 1550 isused to open and close the anvil jaw 1330 during the closure stroke,referring to FIGS. 10-12, the ledges 1572 can slide relative to the lockspring 1370. When the firing bar 1550 is advanced distally to performthe firing stroke and the sled 1360 is in its proximal, unfiredposition, as illustrated in FIG. 13, the ledges 1572 can flex the distalend 1375 of the lock spring 1370 upwardly to allow the ledges 1572 toslide thereunder. As the firing bar 1550 is advanced distally and theledges 1572 move past the distal end 1375 of the lock spring 1370, thelock spring 1370 can resiliently return to its unflexed condition.

After the firing stroke has been completed, or at least sufficientlycompleted, the firing bar 1550 can be retracted back into its proximal,unfired position, as illustrated in FIG. 14. Notably, the sled 1360 isnot retracted proximally with the firing bar 1550. Rather, the sled 1360remains in a distal, fired position. As a result, the sled 1360 of thespent cartridge 1320 cannot hold the lock 1570 in its unlocked positionif the firing bar 1550 were to be advanced distally to perform a secondfiring stroke. Instead, referring to FIG. 15, the lock spring 1370 wouldbias the lateral ledges 1572 of the lock 1570 into the lock recess 1315which would prevent the firing bar 1550 from performing a second firingstroke, i.e., a firing stroke with a spent staple cartridge in thechannel jaw 1310. As illustrated in FIG. 15, the distal end 1375 of thelock spring 1370 is engaged with the ledges 1572 of the lock 1570 at alocation which is distal to the rotation joint that connects the lock1570 to coupling member 1560. As a result, the lock spring 1370 isconfigured to apply a downward biasing torque to the lock 1570 whichrotates the lock 1570 downwardly into its locked position and into thelock recess 1315. In order to reset the lock 1570 into its unlockedposition, the firing bar 1550 can be pulled proximally to pull the lock1570 out of the lock recess 1315 until the lock 1570 is supported by thechannel jaw 1310 once again.

Despite not being able to perform a firing stroke when a spent cartridgeis positioned in the channel jaw 1310, the firing system 1500 could beused to open and close the anvil jaw 1330 even though a spent staplecartridge is positioned in the channel jaw 1310. Moreover, the firingsystem 1500 could also be used to operate the articulation system 1400even though a spent staple cartridge is positioned in the channel jaw1310. Similarly, the firing system 1500 could be used to open and closethe anvil jaw 1330 and/or operate the articulation system 1400 when astaple cartridge is missing from the channel jaw 1310. In order to reusethe shaft assembly 1000 to fire another staple cartridge, however, thespent staple cartridge 1320 must be removed from the channel jaw 1310and replaced with an unspent staple cartridge, such as another staplecartridge 1320, for example. Such an unspent staple cartridge would haveto comprise a sled 1360 in its proximal, unfired position which wouldpermit the firing bar 1550 to be advanced through another firing stroke.

Referring again to FIGS. 10-15, the coupling member 1560 of the firingbar 1550 comprises a cutting edge 1565 configured to transect the tissuecaptured between the staple cartridge 1320 and the anvil jaw 1330.Notably, the coupling member 1560 is not displaced downwardly into thelock recess 1315 defined in the channel jaw 1310 by the lock spring1370. Rather, it is only the lock 1570 that is displaced downwardly bythe lock spring 1370. As a result, the cutting edge 1565 is notdisplaced relative to, and remains aligned with, the tissue capturedbetween the staple cartridge 1320 and the anvil jaw 1330 during thefiring stroke of the firing bar 1550.

As described above, the firing system 1500 is configured to perform aclosure stroke to close the end effector 1300 and a firing stroke tostaple and cut the tissue captured within the end effector 1300. As alsodescribed above, the firing system 1500 is operably coupled to anddriven by the drive system of a surgical system. In various instances,the drive system of the surgical system can fail and may not be able toadvance and/or retract the firing system 1500 once the closure strokeand/or the firing stroke have been performed. Such instances could bequite problematic as the end effector 1300 would be locked shut by thefiring bar 1550. More specifically, as discussed above, the firing bar1550 comprises cams 1563 and 1564 (FIGS. 10-15) configured to hold theanvil jaw 1330 and the channel jaw 1310 in position relative to oneanother during the closing and firing strokes and, if the firing bar1550 were not retractable, the cams 1563 and 1564 would, without more,effectively lock the jaws 1310 and 1330 together. Described below is aretraction system configured to pull the firing bar 1550 proximally sothat the anvil jaw 1330 can be re-opened.

Turning now to FIGS. 34-36, the shaft assembly 1000 comprises aretraction, or bailout, system 1700 configured to be selectivelydeployed to engage the firing system 1500 and retract the firing bar1550 proximally. Referring primarily to FIG. 34, the retraction system1700 comprises a handle, or actuator, 1702 rotatably mounted to thehousing 1120 of the attachment portion 1100 about a pivot pin 1704. Thepivot pin 1704 defines a fixed axis of rotation about which the handle1702 can be rotated. The retraction system 1700 further comprises a pawl1706 rotatably mounted to the handle 1702 about a pivot pin 1708 whichdefines a fixed axis of rotation about which the pawl 1706 can rotaterelative to the handle 1702. The pawl 1706 comprises teeth definedthereon which are configured to engage a longitudinal rack of teeth 1526defined on the rack 1520. When the handle 1702 is in a stored, orundeployed, position, as illustrated in FIG. 34, the teeth of the pawl1706 are not engaged with the rack of teeth 1526.

Referring again to FIG. 34, the housing 1120 comprises an access window1129 defined therein which is sized and configured to permit a clinicianto grab the handle 1702 and rotate the handle 1702 into a deployedposition—which is illustrated in FIG. 35. Further to the above, the tube1620 of the outer frame 1600 comprises a window 1629 and, similarly, thespine of the shaft 1200 comprises a window 1229 defined therein throughwhich are aligned, or at least substantially aligned, with the window1129 defined in the housing 1120. The windows 1629 and 1229 areconfigured to permit the pawl 1706 to access the rack of teeth 1526defined on the rack 1520. When the handle 1702 is raised into itsdeployed position, as illustrated in FIG. 35, the teeth of the pawl 1706engage the rack of teeth 1526. At such point, the handle 1702 can berotated to drive the rack 1520, the firing rod 1510, the intermediatefiring rod 1530, and the firing bar 1550 proximally.

Further to the above, the handle 1702 and the pawl 1706 comprise aratchet assembly which can be actuated several times, if necessary, todrive the firing system 1500 proximally to a position in which thefiring bar 1550 has been sufficiently disengaged from the anvil jaw 1330to allow the anvil jaw 1330 to be opened. When the handle 1702 is in itsdeployed position in FIG. 35, the handle 1702 can be rotated distallyapproximately 45 degrees, for example, to the position illustrated inFIG. 36 in order to pull the firing system 1500 proximally. Such a 45degree rotation of the handle 1702 may or may not be sufficient todisengage the firing bar 1550 from the anvil jaw 1330. If it is notsufficient, the handle 1702 can be rotated proximally and returned tothe position illustrated in FIG. 35 so that the handle 1702 can beactuated once again to further retract the firing bar 1550. This processcan be repeated as many times as necessary until the anvil jaw 1330 canbe opened to unclamp the end effector 1300 from the tissue and removethe shaft assembly 1000 from the surgical site.

Further to the above, circumstances can arise which require the shaftassembly 1000 to be detached from the surgical system prior to thefiring bar 1550 being retracted, or at least retracted fully. In suchinstances, similar to the above, the shaft assembly 1000 would not bepowered by the surgical system—however, the retraction system 1700 couldbe used to quickly release the end effector 1300 from the tissue eventhough the shaft assembly 1000 is not attached to a surgical system.Such an arrangement is an improvement over other arrangements in whichthe retraction system is part of the surgical system instead of theattachable shaft assembly. In such other arrangements, the shaftassembly may have to remain attached to the surgical system in order forthe retraction system to be used to re-open the end effector.

The retraction system 1700 can be used to retract the firing assembly1500 after a portion of the closure stroke has been performed, after theentire closure stroke has been performed, after a portion of the firingstroke has been performed, and/or after the entire firing stroke hasbeen performed. When the firing stroke has been completely performed andthe retraction system 1700 is used to retract the firing assembly 1500,the clinician may have to crank the retraction system 1700 several timesin order to retract the firing bar 1550 through the entire firing strokeand, in addition, the entire closure stroke to open the end effector1300. Such a situation is entirely suitable, but it may take manyactuations of the retraction system 1700 to sufficiently retract thefiring bar 1550. Discussed below is a shaft assembly comprising analternative bailout system.

A shaft assembly 2000 is illustrated in FIGS. 37-46 and is similar tothe shaft assembly 1000 in many respects—several of which are notdiscussed herein for the sake of brevity. Referring primarily to FIG.37, the shaft assembly 2000 comprises an attachment portion 2100configured to releasably attach the shaft assembly 2000 to a surgicalsystem, such as the handle of a surgical instrument and, alternatively,the arm of a surgical robot, for example. The shaft assembly 2000further comprises an end effector 2300, an articulation system 1400configured to articulate the end effector 2300 about an articulationjoint 1660, and a firing system 1500 configured to fire staples from astaple cartridge positioned in the end effector 2300. Referringprimarily to FIGS. 38 and 39, the shaft assembly 2000 also comprises anouter frame 1600 which is mounted to a frame 2110 of the attachmentportion 2100 and is rotatable relative to the frame 2110 about alongitudinal shaft axis 2001. Such an arrangement can allow the endeffector 2300 to be re-oriented relative to the patient tissue. Forinstance, the anvil jaw 1330 of the end effector 2300 can be rotatedfrom one side of the patient tissue to the other before the anvil jaw1330 is clamped onto the tissue. The above being said, the outer frame1600 is mounted to the frame 2110 of the attachment portion 2100 suchthat the outer frame 1660 is not translatable, or at least substantiallytranslatable, relative to the frame 2110.

Similar to the shaft assembly 1000, the shaft assembly 2000 comprises aretraction system 1700 configured to retract the firing system 1500.Further to the above, the retraction system 1700 is operable to retractthe firing bar 1550 proximally and allow the end effector 2300 to bere-opened from a closed, or clamped, configuration (FIG. 45) to an openconfiguration (FIG. 46). Referring primarily to FIGS. 42-44, the shaftassembly 2000 further comprises a translatable spine 2200 and a bailoutsystem 2800 which are configured to drive the end effector 2300 from itsclosed, or clamped, configuration (FIG. 45) to its open configuration(FIG. 46) to re-open the end effector 2300. As described in greaterdetail below, the bailout system 2800 is configured to move the spine2200 distally from a proximal, unactuated position (FIG. 45) to adistal, actuated position (FIG. 46) to move a channel jaw 2310 of theend effector 2300 distally relative to the firing bar 1550.

The translatable spine 2200 is similar to the spine 1200 in manyrespects. Referring primarily to FIGS. 42-44, the spine 2200 comprises aproximal spine portion 2210 which is rotatable relative to the frame2110 about the longitudinal shaft axis 2001. The proximal spine portion2210 comprises an aperture defined therein which is configured toreceive a proximal end of a drive cover 2220. The drive cover 2220further comprises a distal end configured to be positioned within aproximal end of an intermediate spine portion 2230 of the spine 2200.The spine 2200 further comprises an upper distal portion 2250 and alower distal portion 2260 engaged with a distal end of the spine portion2230. The distal portions 2250 and 2260 comprise proximal ends which arelaterally inserted, or slid, into a dovetail slot defined in the distalend of the intermediate spine portion 2230. The spine 2200 furthercomprises a cover 2240 configured to enclose an opening defined in thespine portion 2230 and/or lock the distal portions 2250 and 2260 intoplace. The lower distal portion 2260 comprises an articulationprojection 1262 extending therefrom which is closely positioned withinan articulation aperture defined in an articulation frame 2270 mountedwithin the channel jaw 2210.

Unlike the spine 1200 which is mounted to the frame 1110 to prevent thetranslation of the spine 1200 relative to the frame 1110, the spine 2200is slidably positioned in the frame 2110 and is movable proximally anddistally relative to the frame 2110 by the bailout system 2800.Referring primarily to FIGS. 38 and 39, the bailout system 2800comprises a bailout lever 2802 rotatably mounted to the frame 2110 abouta fixed-axis pivot 2804. In fact, referring to FIG. 41, the bailoutsystem 2800 comprises two bailout levers 2802 rotatably mounted to theframe 2110 on opposite sides thereof which are connected to one anotherby a crossbar 2807, as illustrated in FIG. 42, such that the bailoutlevers 2802 rotate together. The bailout system 2800 further comprises adrive link 2806 rotatably mounted to each of the bailout levers 2802.Referring to FIG. 41, each bailout lever 2802 comprises a drive pin 2803which extends into a drive aperture defined in the drive links 2806 andoperably couples the drive links 2806 to the bailout levers 2802.

Further to the above, referring to FIGS. 40 and 41, each drive link 2806comprises a drive pin 2808 extending therefrom which is positioned in anannular slot 2218 defined in the proximal spine portion 2210. When thebailout levers 2802 are rotated distally into their actuated positions,as illustrated in FIG. 46, the bailout levers 2802 pull the drive links2806 and the spine 2200 distally to translate the channel jaw 2310distally relative to the firing bar 1550. Moreover, the distal movementof the channel jaw 2310 also translates the anvil jaw 1330 distallyowing to the fact that the anvil jaw 1330 is rotatably mounted to thechannel jaw 2310. Such distal movement of the jaws 2310 and 1330comprises a bailout opening stroke which can disengage the anvil jaw1330 from the anvil cam 1564 of the firing bar 1550 and allow the anviljaw 1330 to move into an open position. Further to the above, the endeffector 2300 comprises a compressed biasing member, such as a spring,for example, which can bias the anvil jaw 1330 into its open positiononce the anvil jaw 1330 has been sufficiently disengaged from the anvilcam 1564.

As the reader should appreciate, the bailout system 2800 is separate anddistinct from the retraction system 1700. As a result, the bailoutsystem 2800 and the retraction system 1700 can be operated independentlyof one another. In at least one instance, the bailout system 2800 can beused to open the end effector 2300 during the closure stroke, ifnecessary, and the retraction system 1700 can be used to open end theend effector 2300 during the firing stroke, if necessary. In variousinstances, the retraction system 1700 could be used to open the endeffector 2300 at any point during the closure stroke and/or at any pointduring the firing stroke. In certain instances, the bailout system 2800can be used to open the end effector 2300 during the closure strokeand/or the firing stroke. In at least one such instance, the bailoutopening stroke created by the bailout system 2800 is sufficient to openthe end effector 2300 at any point during the closure stroke and/or atany point during the firing stroke. In some instances, however, thebailout opening stroke created by the bailout system 2800 may beinsufficient to open the end effector 2300 during the firing stroke. Insuch instances, a clinician could use the retraction system 1700 inaddition to or in lieu of the bailout system 2800 to open the endeffector 2300.

Further to the above, the bailout system 2800 is actuatable to quicklyopen the end effector 2300. Comparatively, the retraction system 1700may have to be cranked several times to open the end effector 2300whereas the bailout system 2800 can open the end effector 2300 with asingle stroke. In the instances where the bailout system 2800 can't openthe end effector 2300 by itself, the bailout system 2800 can be actuatedto reduce the number of times that the retraction system 1700 must becranked to open the end effector 2300. Moreover, in such instances, thechannel jaw 2310 is pushed distally away from the firing bar 1550 andthe firing bar 1550 is pulled proximally away from the anvil jaw 1330.In the instances where the bailout system 2800 can open the end effector2300 by itself, the firing bar 1550 of the firing system 1500 does notneed to be retracted to open the end effector 2300.

In various instances, further to the above, the bailout levers 2802 ofthe bailout system 2800 can be rotated from their proximal, unactuatedposition (FIG. 45) to their distal, actuated position (FIG. 46) to openthe end effector 2300 and release the end effector 2300 from the patienttissue. The end effector 2300 can then be moved away from the patienttissue. Thereafter, the bailout levers 2802 can be rotated from theirdistal, actuated position (FIG. 46) to their proximal, unactuatedposition (FIG. 45) to pull the spine 2200 and the channel jaw 2310proximally and close the end effector 2300. Such a feature can beespecially useful when removing the end effector 2300 from a surgicalsite as, in various instances, removing the end effector 2300 from thesurgical site may be easier when the end effector 2300 is in its closedconfiguration. In any event, the bailout system 2800 can be actuated anddeactuated to open and close the end effector 2300 as many times asnecessary.

As discussed above, referring again to FIGS. 32 and 33, the shaftassembly 1000 comprises an articulation lock bar 1480 which isconfigured to engage the articulation lock 1494 of the shaft assembly1000 and displace the arms 1495 of the articulation lock 1494 intoengagement with the articulation drivers 1440 and 1450 of thearticulation system 1400 in order to lock the end effector 1300 inposition and prevent the end effector 1300 from being articulated by thearticulation system 1400. Such an arrangement comprises a single-stagearticulation lock system as both of the arms 1495 are engaged with thearticulation drivers 1440 and 1450 at the same time, or at leastsubstantially the same time. In an alternative embodiment, a shaftassembly 6000, which is illustrated in FIGS. 67-71, comprises atwo-stage articulation lock system 6490 configured to lock an endeffector, such as the end effector 1300, for example, in position.

The shaft assembly 6000 is similar to the shaft assemblies 1000 and 2000in many respects—several of which are not discussed herein for the sakeof brevity. Although not necessarily depicted in FIGS. 67-71, the shaftassembly 6000 comprises a shaft 1200, an end effector 1300, anarticulation system 1400, a firing system 1500, and an outer frame 1600.The shaft assembly 6000 also comprises an articulation lock actuatorwhich is configured to move a lock bar 6480 relative the end effector1300 and engage the lock bar 6480 with the articulation lock system6490. As described in greater detail below, the lock system 6490 isconfigured to, one, directly engage a first lock with the end effector1300 and, two, engage a second lock with the articulation drivers 1440and 1450 of the articulation system 1400. In such instances, the firstlock and the second lock of the articulation lock system 6490 canco-operatively hold the end effector 1300 in position.

Referring primarily to FIG. 67, the two-stage articulation lock system6490 comprises a frame 6491 which is positioned in the outer tube 1620of the outer frame 1600 and fixedly mounted to the spine of the shaft1200. The articulation lock system 6490 further comprises, one, a firstlock 6496 slidably positioned within a cavity 6492 defined in the frame6491 and, two, a biasing spring 6499 configured to bias the first lock6496 into engagement with the articulation frame 1270 mounted in the endeffector 1300. The first lock 6496 comprises a flange 6498 extendingtherefrom and the biasing spring 6499 is compressed between the flange6498 and a proximal end wall of the cavity 6492 defined in the frame6491. As a result, the biasing spring 6499 is configured to move thefirst lock 6496 from a proximal, unlocked position (FIG. 66) in whichthe first lock 6496 is not engaged with the articulation frame 1270 to adistal, locked position (FIGS. 67-70) in which the first lock 6496 isengaged with the articulation frame 1270.

Further to the above, the articulation frame 1270 comprises acircumferential array of teeth 1277 which are each configured to beengaged by a tooth recess 6497 defined in the distal end of the firstlock 6496 when the first lock 6496 is advanced distally into its lockedposition. The array of teeth 1277 extends around a proximal perimeter ofthe articulation frame 1270 such that a tooth 1277 is aligned, or atleast substantially aligned, with the first lock 6496 regardless of theorientation of the end effector 1300. As a result, a tooth 1277 isalways presented in front of the distal end of the first lock 6496 suchthat the first lock 6496 can lock the end effector 1300 in position whenthe first lock 6496 is biased into its locked position by the biasingspring 6499.

The articulation lock system 6490 further comprises a secondarticulation lock 6494 which is configured to be selectively engagedwith the articulation drivers 1440 and 1450 of the articulation system1400. The articulation lock 6494 is fixedly mounted to the spine of theshaft assembly 6490 and comprises lock arms 6495 extending therefrom.The lock arms 6495 are movable between an unflexed configuration (FIG.67) in which they are not engaged with the articulation drivers 1440 and1450 and a flexed configuration (FIG. 68) in which they are engaged withthe articulation drivers 1440 and 1450. Stated another way, the lockarms 6495 are flexible laterally, or outwardly, from an unlockedconfiguration into a locked configuration to engage the articulationdrivers 1440 and 1450.

Each lock arm 6495 comprises teeth defined thereon which are configuredto engage the articulation drivers 1440 and 1450 when the lock arms 6495are deflected outwardly into engagement with the articulation drivers1440 and 1450. More specifically, the teeth of a first lock arm 6495 areconfigured to engage the teeth 1445 defined on the articulation driver1440 and the teeth of a second lock arm 6495 are configured to engagethe teeth 1455 defined on the articulation driver 1450. This interactionbetween the lock arms 6495 and the articulation drivers 1440 and 1450prevents the articulation drivers 1440 and 1450 from being movedproximally and distally to articulate the end effector 1330 and, as aresult, locks the end effector 1330 in position. The lock arms 6495 arealso configured to prevent the articulation drivers 1440 and 1450 frombeing back-driven by the end effector 1330 when a torque is applied tothe end effector 1330.

FIGS. 67 and 68 illustrate a locking sequence of the two-stagearticulation locking system 6490. As illustrated in FIG. 67, the firstarticulation lock 6496 is biased into its locked state by the biasingspring 6499, as discussed above. As a result, the first articulationlock 6496 does not need to be actuated to place the articulation lockingsystem 6490 in a first locked state. Notably, however, the secondarticulation lock 6494 is not engaged with the articulation drivers 1640and 1650 when the articulation locking system 6490 is in its firstlocked state as the lock arms 6495 of the articulation lock 6494 havenot been biased into engagement with the articulation drivers 1640 and1650. Instead, referring to FIG. 68, the lock bar 6480 must be advanceddistally to engage the lock arms 6495 and displace the lock arms 6495into engagement with the articulation drivers 1640 and 1650. As aresult, the second articulation lock 6494 must be actuated to place thearticulation locking system 6490 in a second locked state.

Referring again to FIG. 67, the lock bar 6480 comprises a shaft portion6481 which is configured to slide between the lock arms 6495 withoutdisplacing the lock arms 6495 laterally into engagement with thearticulation drivers 1440 and 1450. That said, referring now to FIG. 68,the lock bar 6480 comprises an enlargement 6485 defined on the shaftportion 6481 which is configured to engage the lock arms 6495 anddeflect the lock arms 6495 into their locked configurations when thelock bar 6480 is advanced distally. At such point, the articulationlocking system 6490 is in its second locked state. Notably, the firstarticulation lock 6496 is engaged with the end effector 1300 and thesecond articulation lock 6494 is engaged with the articulation drivers1440 and 1450 when the articulation locking system 6490 is in its secondlocked state. Also, notably, the first articulation lock 6496 engagesthe end effector 1300 before the second articulation lock 6494 engagesthe articulation drivers 1440 and 1450 during the two-stage lockingsequence of the articulation locking system 6490.

FIGS. 69-71 illustrate an unlocking sequence of the two-stagearticulation locking system 6490. FIG. 69 illustrates the articulationlocking system 6490 in its second locked state and, in order to unlockthe end effector 1300 so that it can be articulated as described above,the articulation locking system 6490 is sequentially placed in its firstlocked state, as illustrated in FIG. 70, and then placed in its unlockedstate, as illustrated in FIG. 71. Referring to FIG. 70, the lock bar6480 is retracted proximally to disengage the enlargement 6485 from thelock arms 6495 so that the lock arms 6495 can resiliently flex inwardlyand disengage from the articulation drivers 1440 and 1450. At suchpoint, the articulation locking system 6490 has been returned to itsfirst locked state. Notably, the lock bar 6480 comprises a distal end6482 which is slidably positioned in an elongate aperture 6493 definedin the first articulation lock 6496 and, when the lock bar 6480 is movedproximally to transition the articulation locking system from its secondlocked state to its first locked state, as discussed above, the distalend 6482 can slide within the elongate aperture 6493 without moving thefirst articulation lock 6496 out of its locked state.

Once the articulation locking system 6490 has been returned to its firstlocked state, as described above, the lock bar 6480 can be retractedfurther proximally to pull the first articulation lock 6496 out ofengagement with the articulation frame 1270. More specifically, thedistal end 6482 of the lock bar 6480 can abut a proximal end wall of theaperture 6483 when the lock bar 6480 is retracted proximally in order toapply a retraction force to the first articulation lock 6494. Such aproximal retraction force must be able to overcome the distal biasingforce that the spring 6499 is applying to the first articulation lock6496 in order to move the first articulation lock 6496 proximally. Inany event, the articulation locking system 6490 is in an unlocked stateonce the first articulation lock 6496 has been disengaged from thearticulation frame 1270. At such point, the end effector 1300 can bearticulated. In order to re-lock the end effector 1300 in position, thelock bar 6480 could be released to allow the biasing spring 6499 toplace the first articulation lock 6496 in its locked state once again.Alternatively, the lock bar 6480 can be driven distally to re-lock theend effector 1300 in position.

As discussed above, the two-stage articulation locking system 6490 isconfigured to sequentially lock the first articulation lock 6496 andthen the second articulation lock 6494. Alternative embodiments areenvisioned in which an articulation locking system is configured tosequentially lock the second articulation lock 6494 and then the firstarticulation lock 6496. Further alternative embodiments are envisionedwhich are configured to lock the first articulation lock 6494 and thesecond articulation lock 6494 at the same time.

As also discussed above, the two-stage articulation locking system 6490is configured to sequentially unlock the second articulation lock 6494and then the first articulation lock 6496. Alternative embodiments areenvisioned in which an articulation locking system is configured tosequentially unlock the first articulation lock 6496 and then the secondarticulation lock 6494. Further alternative embodiments are envisionedwhich are configured to unlock the first articulation lock 6494 and thesecond articulation lock 6494 at the same time.

A shaft assembly 3000 is illustrated in FIGS. 47-51. The shaft assembly3000 is similar to the shaft assembly 1000 in many respects—several ofwhich are not discussed herein for the sake of brevity. Although notnecessarily depicted in FIGS. 47-51, the shaft assembly 3000 comprisesan attachment portion 3100 and a spine mounted to the attachment portion3100 which is rotatable, but not translatable, relative to a frame 3110of the attachment portion 3100. The shaft assembly 3000 also comprisesan end effector 1300, an articulation system 1400 configured toarticulate the end effector 1300, and a firing system 1500. As discussedabove, the end effector 1300 comprises an anvil jaw 1330 which isrotatable relative to a channel jaw 1310 between an open position and aclosed position. The shaft assembly 3000 further comprises an outershaft portion 3600 configured to engage the anvil jaw 1330 and move theanvil jaw 1330 toward its closed position, as described in greaterdetail below.

Referring primarily to FIGS. 47 and 49, the outer shaft assembly 3600comprises a proximal portion 3610, an intermediate portion 3620 coupledto the proximal portion 3610, and a distal portion 3630 coupled to theintermediate portion 3620. The proximal portion 3610 is mounted to theframe 3110 of the attachment portion 3100 such that the proximal portion3610 is rotatable, but not translatable, relative to the frame 3110. Theproximal portion 3610 comprises a longitudinal passage 3615 extendingthere through and, similarly, the intermediate portion 3620 comprises alongitudinal passage 3625 extending there through. The longitudinalpassages 3615 and 3625 are aligned, or at least substantially aligned,with one another and surround the spine, the articulation system 1400,and the firing system 1500 of the shaft assembly 3600. The distalportion 3630, further to the above, comprises a longitudinal passage3635 extending there through which is aligned with the longitudinalpassage 3625 defined in the intermediate portion 3620. A proximal end ofthe distal portion 3630 is positioned in the longitudinal passage 3625and is engaged with the intermediate portion 3620 in a press-fit mannersuch that there is little, if any, relative movement between theintermediate portion 3620 and the distal portion 3630.

Referring again to FIG. 49, the proximal portion 3610 of the outer shaftassembly 3600 comprises a distal flange 3611. Additionally, theintermediate portion 3620 of the outer shaft assembly 3600 comprises aproximal flange 3621 positioned adjacent the distal flange 3611. Thedistal flange 3611 and the proximal flange 3621 are parallel, or atleast substantially parallel, to one another. Referring primarily toFIGS. 48 and 49, the outer shaft assembly 3600 further comprises anextension assembly 3700 which connects the distal flange 3611 of theproximal portion 3610 to the proximal flange 3621 of the intermediateportion 3620. The extension assembly 3700 is configured to allow theouter shaft assembly 3600 to shift between a contracted configuration(FIG. 50) and an expanded configuration (FIG. 51), as discussed ingreater detail below.

Referring to FIGS. 48 and 49, the extension assembly 3700 comprises afirst linkage including a proximal link 3710 and a distal link 3720 and,in addition, a second linkage including proximal links 3730 and distallinks 3740. The proximal link 3710 is rotatably mounted to the proximalportion 3610 of the outer shaft assembly 3600. The proximal portion 3610comprises mounting posts 3612 extending therefrom which are positionedin post apertures 3712 defined in the proximal link 3710. Similarly, thedistal link 3720 is rotatably mounted to the intermediate portion 3620of the outer shaft assembly 3600. The intermediate portion 3620comprises mounting apertures 3622 defined therein which are configuredto receive posts 3722 extending from the distal link 3720. Moreover, theproximal link 3710 is rotatably coupled to the distal link 3720. Morespecifically, the proximal link 3710 comprises connector posts 3724extending therefrom which are rotatably positioned in connectorapertures 3724 defined in the distal link 3720.

Further to the above, the proximal links 3730 of the extension assembly3700 are rotatably mounted to the proximal portion 3610 of the outershaft assembly 3600. The proximal portion 3610 comprises mounting posts3616 extending therefrom which are positioned in post apertures 3736defined in the proximal links 3730. Similarly, the distal links 3740 ofthe extension assembly 3700 are rotatably mounted to the intermediateportion 3620 of the outer shaft assembly 3600. The intermediate portion3620 comprises mounting apertures defined therein which are configuredto receive posts 3746 extending from the distal links 3740. Moreover,the proximal links 3730 are rotatably coupled to the distal links 3740.More specifically, each proximal link 3730 comprises a connector post3734 extending therefrom which is rotatably positioned in a connectoraperture 3744 defined in a distal link 3740.

Referring now to FIG. 50, the extension assembly 3700 of the outer shaftassembly 3600 is positioned distally with respect to the rack 1520 ofthe firing system 1500 before the rack 1520 is advanced distally by thefiring rod 1510 to perform a closure stroke and/or a firing stroke. Whenthe rack 1520 is advanced distally, referring to FIG. 51, the rack 1520engages the extension assembly 3700 and shifts the outer shaft assembly3600 from its contracted configuration (FIG. 50) to its expandedconfiguration (FIG. 51). More specifically, the rack 1520 abuts thelinks 3710 and 3720 of the extension assembly 3700 and rotates themlaterally, or outwardly, which, as a result, pushes the links 3730 and3740 distally, or longitudinally. Referring primarily to FIG. 49, thelinks 3710 and 3720 can comprise cam surfaces 3715 defined therein whichare engaged and driven by the rack 1520. As a result of the above, theintermediate portion 3620 and the distal portion 3630 of the outer shaftassembly 3600 are pushed distally relative to the proximal portion 3610when the outer shaft assembly 3600 is switched from its contractedconfiguration (FIG. 50) to its expanded configuration (FIG. 51).

Further to the above, referring primarily to FIG. 51, the distal portion3630 of the outer shaft assembly 3600 engages the anvil jaw 1330 whenthe distal portion 3630 is advanced distally and, as a result, rotatesthe anvil jaw 1330 into its closed position. Stated another way, thedistal movement of the rack 1520 of the firing system 1500 generates aclosure stroke which closes the end effector 1300. Thereafter, thefiring system 1500 can be used to drive the firing rod 1510, the rack1520, the intermediate firing rod 1530, and the firing bar 1550 througha firing stroke—which is discussed above in greater detail. Thus, thefiring system 1500 transmits separate and distinct closing and firingstrokes to the end effector 1300 via the outer shaft assembly 1600 andthe firing bar 1550, respectively. Notably, the firing system 1500 isable to generate the closure stroke after the shaft assembly 3000 hasbeen switched from its articulation operating mode to its firingoperating mode when the articulation lock actuator 1410 is advanceddistally to lock the end effector 1300 in position—which, again, isdiscussed above in greater detail.

As discussed above, the rack 1520 of the firing system 1500 engages theextension assembly 3700 during the closure stroke to place the outershaft assembly 3600 in its expanded configuration. The rack 1520 remainsengaged with the extension assembly 3700 throughout the closure andfiring strokes and, as a result, holds the outer shaft assembly 3600 inits expanded configuration throughout the closure and firing strokes.After the closing stroke and/or the firing stroke have been completed,or at least sufficiently completed, the firing system 1500 can beoperated to retract the firing rod 1510 and the rack 1520 proximally. Asthe rack 1520 is retracted proximally, the rack 1520 disengages from theextension assembly 3700 and, as a result, the outer shaft assembly 3600will no longer be held in its extended configuration by the rack 1520.

Referring again to FIG. 49, the outer shaft assembly 3600 furthercomprises springs 3750 configured to bias, or pull, the intermediateportion 3620 toward the proximal portion 3610 and return the outer shaftassembly 3600 into its contracted configuration. The distal flange 3611of the proximal portion 3610 comprises apertures 3619 defined thereinwhich are configured to mount the springs 3750 to the proximal portion3610 and, similarly, the proximal flange 3621 of the intermediateportion 3620 comprises apertures 3629 defined therein which areconfigured to mount the springs 3750 to the intermediate portion 3620.When the intermediate portion 3620 of the outer shaft assembly 3600 isdisplaced distally by the rack 1520, the rack 1520 must apply a distalextension force to the extension assembly 3700 which overcomes theproximal biasing force of the springs 3750.

An alternative shaft assembly 4000 is illustrated in FIGS. 52-54. Theshaft assembly 4000 is similar to the shaft assembly 3000 in manyrespects—most of which are not discussed herein for the sake of brevity.The shaft assembly 4000 comprises an outer shaft assembly including aproximal portion 4610 and an intermediate portion 4620 which areconnected by a tension spring 4750 which extends around the extensionassembly 3700. Similar to the above, the tension spring 4750 applies aproximal biasing force to the intermediate portion 4620 when theintermediate portion 4620 is displaced distally away from the proximalportion 4610 by the rack 1520. Also similar to the above, the tensionspring 4750 retracts the intermediate portion 4620 toward the proximalportion 4610 after the rack 1520 has been disengaged from the extensionassembly 3700.

As discussed above, referring again to FIGS. 34-36, the shaft assembly1000 comprises a retraction system 1700 configured to manually retractthe firing system 1500. Turning now to FIGS. 55-66, a shaft assembly5000 also comprises a manually-actuated retraction system, which isdiscussed in greater detail further below. The shaft assembly 5000 issimilar to the shaft assembly 1000 in many respects—most of which arenot discussed herein for the sake of brevity.

Referring to FIG. 55, the shaft assembly 5000 comprises an attachmentportion 5100 which includes an outer housing 5120. Referring primarilyto FIG. 57, the outer housing 5120 comprises first and second housingportions 5121 that are attached to one another to comprise a housingframe. The housing portions 5121 can be coupled together by one or moresnap-fit features, one or more press-fit features, and/or one or morefasteners, for example. The outer housing 5120 further comprises one ormore features configured to releasably connect the attachment portion5100 to the frame of a surgical system, such as the handle of a surgicalinstrument and, alternatively, the arm of a surgical robot, for example.The housing portions 5121 further comprise one ore more bearing surfacesconfigured to slidably support the translatable components of a driveassembly 5500 and, in addition, one or more bearing apertures configuredto rotatably support the rotatable components of the drive assembly5500, for example.

Referring primarily to FIGS. 57-59, the drive assembly 5500 comprises atranslatable firing rod 5510 configured to be operably coupled with adrive system of the surgical system. The drive assembly 5500 furthercomprises an input rack 5520 fixedly mounted to the firing rod 5510 suchthat the input rack 5520 is translatable with the firing rod 5510. Thedrive assembly 5500 is configured to transmit the translation of theinput rack 5520 to a first rack 5560 of a first drive system and,alternatively, a second rack 5580 of a second drive system. To achievethis, the drive assembly 5500 comprises a shiftable shaft 5540 which isdisplaceable between a first position (FIG. 64) in which the input rack5520 is operably coupled to the first rack 5560 during a first operatingmode and a second position (FIGS. 60-62) in which the input rack 5520 isoperably coupled to the second rack 5580 during a second operating mode.The shaft 5540 comprises a first end 5542 extending from the firsthousing portion 5121 and a second end 5542 extending from the secondhousing portion 5121. The first and second ends 5542 of the shaft 5540each comprise a pushable surface which can be displaced to slide, ortoggle, the shaft 5540 between its first position (FIG. 64) and itssecond position (FIGS. 60-62).

Referring again to FIGS. 57-59, the drive assembly 5500 furthercomprises a gear 5530 slidably mounted to the shaft 5540, a first outputgear 5550 operably engageable with the shaft 5540, and a second outputgear 5570 operably engageable with the shaft 5540. Referring to FIG. 62,the gear 5530 comprises an array of teeth 5536 extending around theperimeter thereof and, in addition, a splined aperture 5534 extendingthere through. The teeth 5536 are operably intermeshed with alongitudinal array of teeth 5526 defined on the input rack 5520. Whenthe input rack 5520 is displaced distally, the input rack 5520 rotatesthe gear 5530 in a first direction and, when the input rack 5520 isdisplaced proximally, the input rack 5520 rotates the gear 5530 in asecond, or opposite, direction. The splined aperture 5534 of the gear5530 is operably intermeshed with a spline portion 5544 defined on theshaft 5540. As a result, the gear 5530 rotates the shaft 5540 in thefirst direction when the gear 5530 is rotated in the first direction.Likewise, the gear 5530 rotates the shaft 5540 in the second directionwhen the gear 5530 is rotated in the second direction.

Further to the above, the gear 5530 is constrained within the housing5120 such that the gear 5530 does not move, or at least substantiallymove, laterally relative to the first output gear 5550 and the secondoutput gear 5570. The shaft 5540, however, is movably laterally relativeto the gear 5530, the first output gear 5550, and the second output gear5570 when the shaft 5540 is moved between its first position (FIG. 64)to place the shaft assembly 5000 in its first operating mode and itssecond position (FIG. 62) to place the shaft assembly 5000 in its secondoperating mode. Notably, the spline portion 5544 of the shaft 5540 has alength which is sufficient to operably couple the gear 5530 to the shaft5540 regardless of whether the shaft 5540 is in its first position (FIG.64) or its second position (FIG. 62). As a result of the above, the gear5530 remains operably engaged with the input rack 5520 and the shaft5540 regardless of the position of the shaft 5540 and regardless of theoperating mode in which the shaft assembly 5000 is placed.

When the shaft 5540 is in its first position, referring to FIG. 64, thespline portion 5544 of the shaft 5540 is operably engaged with the firstoutput gear 5550. More specifically, the spline portion 5544 of theshaft 5540 is positioned in a splined aperture 5554 defined in the firstoutput gear 5550 when the shaft 5540 is in its first position such thatthe rotation of the shaft 5540 is transmitted to the first output gear5550. As a result, the shaft 5540 rotates the first output gear 5550 inthe first direction when the shaft 5540 is rotated in the firstdirection and, correspondingly, the shaft 5540 rotates the first outputgear 5550 in the second direction when the shaft 5540 is rotated in thesecond direction. The first output gear 5550 comprises an array of teeth5556 extending around the perimeter thereof which are operablyintermeshed with a longitudinal array of teeth 5566 defined on the firstrack 5560. As a result, the first rack 5560 is displaced distally whenthe input rack 5520 is displaced distally and, correspondingly, thefirst rack 5560 is displaced proximally when the input rack 5520 isdisplaced proximally. Similar to the gear 5530, the first output gear5550 is constrained within the housing 5520 such that the first outputgear 5550 does not move, or at least substantially move, laterallyrelative to the first rack 5560. As a result, the first output gear 5550remains operably engaged with the first rack 5560 regardless of theoperating mode of the shaft assembly 5000.

When the shaft 5540 is in its second position, referring to FIG. 62, thespline portion 5544 of the shaft 5540 is operably engaged with thesecond output gear 5570. More specifically, the spline portion 5544 ofthe shaft 5540 is positioned in a splined aperture 5574 defined in thesecond output gear 5570 when the shaft 5540 is in its second positionsuch that the rotation of the shaft 5540 is transmitted to the secondoutput gear 5570. As a result, the shaft 5540 rotates the second outputgear 5570 in the first direction when the shaft 5540 is rotated in thefirst direction and, correspondingly, the shaft 5540 rotates the secondoutput gear 5570 in the second direction when the shaft 5540 is rotatedin the second direction. The second output gear 5570 comprises an arrayof teeth 5576 extending around the perimeter thereof which are operablyintermeshed with a longitudinal array of teeth 5586 defined on thesecond rack 5580. As a result, the second rack 5580 is displaceddistally when the input rack 5520 is displaced distally and,correspondingly, the second rack 5580 is displaced proximally when theinput rack 5520 is displaced proximally. Similar to the gear 5530 andthe first output gear 5550, the second output gear 5570 is constrainedwithin the housing 5520 such that the second output gear 5570 does notmove, or at least substantially move, laterally relative to the secondrack 5580. As a result, the second output gear 5570 remains operablyengaged with the second rack 5580 regardless of the operating mode ofthe shaft assembly 5000.

Moreover, further to the above, the spline portion 5544 of shaft 5540has a length which prevents the shaft 5540 from driving the first drivesystem and the second drive system at the same time. More specifically,the spline portion 5544 is not operably engaged with the second outputgear 5570 when the spline portion 5544 is operably engaged with thefirst output gear 5550. Correspondingly, the spline portion 5544 is notoperably engaged with first output gear 5550 when the spline portion5544 is operably engaged with the second output gear 5570. As a result,the firing rod 1510 is engageable with the first rack 5560 and thesecond rack 5580, but not both at the same time. Alternative embodimentsare envisioned in which the spline portion 5544 is selectivelypositionable in an intermediate position in which the spline portion5544 is operably engaged with first output gear 5550 and the secondoutput gear 5570 at the same time. In such instances, the firing rod1510 can drive the first rack 5560 and the second rack 5580 at the sametime.

The drive system 5500 can be used to selectively drive a first drivesystem including the first rack 5560 or a second drive system includingthe second rack 5580. The first drive system and the second drive systemcan be configured to perform any suitable function of the shaft assembly5000. For instance, the first drive system can be used to produce aclosure stroke which closes an end effector of the shaft assembly 5000and the second drive system can be used to produce a firing stroke whichejects staples from a staple cartridge positioned in the end effector,for example. In such instances, the shaft assembly 5000 is capable ofperforming separate and distinct closure and firing strokes.Alternatively, the first drive system can be used to articulate the endeffector of the shaft assembly 5000 and the second drive system can beused to produce one or more strokes which close the end effector andeject the staples from the staple cartridge, for example. In eitherevent, the drive system 5500 is configured to selectively transmit thelinear input motion applied to the firing rod 5510 to two separate drivesystems.

Referring primarily to FIG. 60, the drive system 5500 further comprisesan output shaft assembly 5590. The output shaft assembly 5590 comprisesa splined portion 5594, a gear 5596 slidably mounted to the splinedportion 5594, and a bevel gear 5598 fixedly mounted thereto. The gear5596 is slidable between a drive position

(FIGS. 60, 61, and 63) and a retraction position (FIG. 65). When thegear 5596 is in its drive position, referring to FIGS. 60, 61, and 63,the gear 5596 is operably intermeshed with the longitudinal array ofteeth 5586 defined on the second rack 5580. In such instances, thesecond rack 5580 can rotate the shaft assembly 5590 via the gear 5596when the second rack 5580 is driven proximally and distally by thefiring rod 1510, as described above. When the gear 5596 is in itsretraction position, referring to FIG. 65, the gear 5596 is operablydecoupled from the second rack 5580. Instead, in such instances, thegear 5596 is operably coupled with a retraction system 5700, asdescribed in greater detail below.

Referring to FIG. 56, the retraction system 5700 is stored, or stowed,in the housing 5120 of the attachment portion 5100. The housing 5120comprises a cover, or hatch, 5125 rotatably mounted to one of thehousing portions 5121 which is openable to access the retraction system5700. Referring to FIG. 57, the cover 5125 comprises pin apertures 5128defined therein which are aligned with pin apertures 5123 defined in ahousing portion 5121. Each set of pin apertures 5123, 5128 areconfigured to receive a pin 5127 therein which rotatably couples thecover 5125 to the housing portion 5121. Other arrangements forconnecting the cover 5125 to the housing portion 5121 can be used. Thehousing 5120 further comprises an opening 5122 defined therein throughwhich the retraction system 5700 can be accessed when the cover 5125 isrotated from a closed position (FIG. 55) to an open position (FIG. 56).Notably, the cover 5125 comprises arms 5126 extending therefrom whichare configured to engage the gear 5596 of the shaft assembly 5590 whenthe cover 5125 is rotated from its closed position (FIG. 55) to its openposition (FIG. 56), as described in greater detail below.

Further to the above, the cover 5125 is configured to push the gear 5596from its drive position (FIG. 63) into its retracted position (FIG. 65)when the cover 5125 is opened. Referring to FIG. 63, the gear 5596 isoperably engaged with the rack 5580 and operably disengaged from theretraction system 5700 when the gear 5596 is in its drive position.Referring to FIG. 65, the gear 5596 is operably disengaged from thesecond rack 5580 and operably engaged with the retraction system 5700when the gear 5596 is in its retraction position. Thus, when the cover5125 is opened to access the retraction system 5700, the cover 5125automatically shifts the shaft assembly 5000 from its second operatingmode to a retraction operating mode (FIGS. 65 and 66). As a result, theretraction system 5700 is operably coupled with the shaft assembly 5590and the second rack 5580 is operably decoupled from the shaft assembly5590 before the clinician can even grab a crank 5702 of the retractionsystem 5700. Moreover, the cover 5125 holds the gear 5596 in itsretraction position so long as the cover 5125 is in its open position.

In view of the above, the shaft assembly 5590 is drivable by the secondrack 5580 or the retraction system 5700, depending on which operatingmode that the shaft assembly 5000 is in. In either the second operatingmode or the retraction operating mode, referring primarily to FIG. 60,the bevel gear 5598 of the shaft assembly 5590 is operably engaged withan output system 5600. The output system 5600 comprises a bevel gear5608 operably intermeshed with the bevel gear 5598. The output system5600 further comprises a rotatable output shaft 5606. The bevel gear5608 is fixedly mounted to the output shaft 5606 such that, when theshaft assembly 5590 is rotated, the output shaft 5606 is rotated. Theoutput system 5600 further comprises a rotatable firing shaft 5602 and agear reduction box 5604 which operably couples the rotatable firingshaft 5602 and the rotatable output shaft 5606. When the shaft assembly5000 is in its second operating mode and the gear 5596 is operablycoupled with the second rack 5580, further to the above, the firingshaft 5602 is rotatable in a first direction or a reverse direction bythe second rack 5580 depending on the direction in which the second rack5580 is displaced. When the shaft assembly 5000 is in its retractionoperating mode, the retraction system 5700 is only capable of rotatingthe firing shaft 5602 in its reverse direction, as described in greaterdetail below.

Referring to FIGS. 58, 59, and 66, the crank 5702 of the retractionsystem 5700 is rotatable relative to a shaft 5710 which is rotatablysupported by the housing 5120. Notably, the crank 5702 does not directlydrive the shaft 5710 when the crank 5702 is rotated; rather, the crank5702 comprises a pawl 5706 rotatably mounted thereto which drives aratchet gear 5716 fixedly mounted to the shaft 5710. Referring primarilyto FIG. 59, the pawl 5706 is rotatably coupled to the crank 5702 about apin 5704 mounted to the crank 5702. In use, the pawl 5706 is configuredto drive the ratchet gear 5716 and rotate the firing shaft 5602 in itsreverse direction when the crank 5702 is rotated in a first direction.On the other hand, the pawl 5706 is configured to slide relative to theratchet gear 5716 when the crank 5702 is rotated in a second, oropposite, direction. The retraction system 5700 further comprises a gear5712 fixedly mounted to the shaft 5710 which is rotated with the shaft5710 when the shaft 5710 is rotated by the pawl 5706. Referringprimarily to FIG. 66, the gear 5712 is operably intermeshed with a gear5722 rotatably mounted to a shaft 5724 such that the rotation of thegear 5712 is transmitted to the gear 5722. When the gear 5596 is in itsretraction position, further to the above, the gear 5596 is operablyintermeshed with the gear 5722. As a result, the rotation of the crank5702 in its first direction, which is illustrated in FIG. 66, istransmitted to the shaft assembly 5690 to rotate the firing shaft 5602in its reverse direction. In various instances, the rotation of thefiring shaft 5602 in its reverse direction retracts a firing memberproximally away from the end effector of the shaft assembly 5000, forexample.

The opening of the cover 5125 permanently decouples the gear 5596 fromthe second rack 5580 and, correspondingly, permanently decouples thefiring shaft 5602 from the input shaft 5510. More specifically, the gear5596 is not resettable, or at least readily resettable, into its driveposition (FIG. 63) after it has been moved into its retraction position(FIG. 65). As a result, the shaft assembly 5000 cannot be returned toits second operating mode after it has been placed in its retractionoperating mode. In the event that the cover 5125 were to be opened andthen reclosed, for instance, the arms 5126 of the cover 5125 woulddisengage from the gear 5596 but the gear 5596 would not be moved backinto engagement with the second rack 5580. In such instances, however,the retraction system 5700 could still be used to rotate the firing rod5602 in its reverse direction. Moreover, in such instances, the drivesystem 5500 could still be used to engage the first rack 5560 with thefiring rod 5510 and operate the first drive system. Such an arrangementwould prevent a clinician from re-using a shaft assembly 5000 that maybe defective—as the act of opening the cover 5125 may suggest thatsomething may be wrong with the shaft assembly 5000.

Various alternative embodiments are envisioned in which the shaftassembly 5000 is resettable into its second operating mode after beingplaced in its retraction operating mode. For instance, the shaftassembly 5000 can comprise a spring positioned intermediate the gear5596 and the bevel gear 5598 which is compressed by the gear 5596 whenthe cover 5125 is opened and the gear 5596 is slid along the splineportion 5594 of the shaft assembly 5590 into its retraction position.When the cover 5125 is closed in such instances, the spring can bias thegear 5596 back into its drive position and operably re-engage the gear5596 with the second rack 5580. Such an arrangement would allow a shaftassembly 5000 to be repaired during use and then used to finish asurgical technique.

FIG. 72 illustrates an exemplary surgical instrument 100 comprising ahandle 110 and an interchangeable shaft assembly 200 operably coupledthereto. The handle 110 comprises a housing 140 that is configured to begrasped, manipulated, and/or actuated by a clinician. The shaft assembly200 comprises a shaft 210 and an end effector 300. The shaft 210comprises a shaft frame (not shown in FIG. 78), and a hollow outersleeve or closure tube 250 through which the shaft frame extends. Theshaft assembly 200 further includes a nozzle assembly 290 configured tointerface with the outer sleeve 250 and enable the clinician toselectively rotate the shaft 210 about a longitudinal axis. The shaftassembly 200 also includes a latch 230 which is a part of a lock systemthat releasably locks the shaft assembly 200 to the handle 110. Invarious circumstances, the latch 230 can close an electrical circuit inthe handle 110, for example, when the latch 230 is engaged with thehandle 110. The entire disclosure of U.S. patent application Ser. No.13/803,086, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING ANARTICULATION LOCK, which was filed on Mar. 14, 2013, is incorporated byreference herein. All of the embodiments disclosed herein are usablewith the handle 110.

FIG. 73 depicts an exemplary surgical robot 500 configured to actuate aplurality of surgical tools, generally designated as 600, for example.The surgical robot 500 may be used in connection with a mastercontroller, not shown, configured to allow a surgeon to control and viewa surgical procedure being performed by the surgical robot 500. Invarious forms, the surgical robot 500 includes a base 510 from which, inthe illustrated embodiment, three surgical tools 600 are supported, forexample. In various forms, the surgical tools 600 are each supported bya series of articulatable linkages, generally referred to as arms 520,and are operably coupled with one or more drive systems 530. Thesestructures are illustrated with protective covers which obscure much ofthe movable components thereof. These protective covers may be optional,and may be limited in size or entirely eliminated in some embodiments tominimize the inertia that is encountered by servo mechanisms used tomanipulate the arms 520. In various forms, the surgical robot 500 haswheels that allow the surgical robot 500 to be positioned adjacent anoperating table by a single attendant. FIG. 73 further illustrates awork envelope 700 of the surgical robot 500. The work envelope 700refers to the range of movement of the surgical tools 600 of thesurgical robot 500. The shape and size of the work envelope 700 depictedin FIG. 73 is merely illustrative. Thus, a work envelope is not limitedto the specific size and shape of the sample work envelope depicted inFIG. 73. The entire disclosure of U.S. Pat. No. 9,060,770, entitledROBOTICALLY-DRIVEN SURGICAL INSTRUMENT WITH E-BEAM DRIVER, which issuedon Jun. 23, 2015, is incorporated by reference herein. All of theembodiments disclosed herein are usable with the surgical robot 500.

EXAMPLES Example 1

A method comprising the steps of obtaining a shaft assembly comprisingan end effector, attaching the shaft assembly to a handle of a surgicalinstrument, and removing the shaft assembly from the handle. The methodalso comprises the steps of attaching the shaft assembly to an arm of asurgical robot, and removing the shaft assembly from the arm.

Example 2

The method of Example 1, wherein the step of removing the shaft assemblyfrom the surgical instrument handle occurs before the step of attachingthe shaft assembly to the surgical robot arm, and wherein the methodfurther comprises the step of sterilizing the shaft assembly afterremoving the shaft assembly from the surgical instrument handle.

Example 3

The method of Example 1, wherein the step of removing the shaft assemblyfrom the surgical robot arm occurs before the step of attaching theshaft assembly to the surgical instrument handle, and wherein the methodfurther comprises the step of sterilizing the shaft assembly afterremoving the shaft assembly from the surgical robot arm.

Example 4

The method of Examples 1, 2, or 3, wherein the shaft assembly comprisesa firing member, wherein the surgical instrument handle comprises anelectric motor operably couplable with the firing member during the stepof attaching the shaft assembly to the surgical instrument handle, andwherein the surgical robot arm comprises an electric motor operablycouplable with the firing member during the step of attaching the shaftassembly to the surgical robot arm.

Example 5

The method of Examples 1, 2, 3, or 4, wherein the shaft assemblycomprises a latch configured to engage the handle of the surgicalinstrument and, alternatively, the arm of the surgical robot.

Example 6

The method of Examples 1, 2, 3, 4, or 5, wherein the shaft assemblycomprises a shaft microprocessor and a shaft electrical connector,wherein the handle comprises a handle microprocessor and a handleelectrical connector, and wherein the surgical robot comprises a robotmicroprocessor and a robot connector.

Example 7

The method of Example 6, wherein the step of attaching the shaftassembly to the handle of the surgical instrument comprises electricallycoupling the shaft electrical connector with the handle electricalconnector.

Example 8

The method of Example 6, wherein the step of attaching the shaftassembly to the handle of the surgical instrument comprises placing theshaft microprocessor in signal communication with the handlemicroprocessor.

Example 9

The method of Example 6, wherein the step of attaching the shaftassembly to the arm of the surgical robot comprises electricallycoupling the shaft electrical connector with the robot electricalconnector.

Example 10

The method of Example 6, wherein the step of attaching the shaftassembly to the arm of the surgical robot comprises placing the shaftmicroprocessor in signal communication with the robot microprocessor.

Example 11

The method of Examples 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, furthercomprising a step of attaching a staple cartridge to the shaft assemblybefore the step of attaching the shaft assembly to the surgicalinstrument handle.

Example 12

The method of Examples 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, furthercomprising a step of attaching a staple cartridge to the shaft assemblyafter the step of attaching the shaft assembly to the surgicalinstrument handle.

Example 13

The method of Examples 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, furthercomprising a step of attaching a staple cartridge to the shaft assemblybefore the step of attaching the shaft assembly to the surgical robotarm.

Example 14

The method of Examples 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, furthercomprising a step of attaching a staple cartridge to the shaft assemblyafter the step of attaching the shaft assembly to the surgical robotarm.

Example 15

The method of Examples 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, or 14,further comprising a step of assembling the end effector to the shaftassembly.

Example 16

A method comprising the steps of obtaining a shaft assembly, attachingthe shaft assembly to a handle of a surgical instrument and attaching,in the alternative, the shaft assembly to an arm of a surgical robot.

Example 17

The method of Example 16, further comprising a step of attaching an endeffector to the shaft assembly.

Example 18

The method of Example 17, further comprising a step of attaching astaple cartridge to the end effector.

Example 19

A method comprising the steps of obtaining a shaft assembly, andselectively attaching the shaft assembly to a handle of a surgicalinstrument or an arm of a surgical robot.

Example 20

A shaft assembly for use with a motorized surgical system, wherein theshaft assembly comprises a frame selectively mountable to the motorizedsurgical system, a shaft extending from the frame, and an end effectorcoupled to the shaft. The shaft assembly also comprises a firing memberoperably engageable with the motorized surgical system, wherein thefiring member is movable toward the end effector during a firing stroke.The shaft assembly further comprises a retraction crank rotatablymounted to the frame, wherein the retraction crank is selectivelyengageable with the firing member, and wherein the retraction crank isselectively operable to retract the firing member away from the endeffector in the event that the shaft assembly is not mounted to themotorized surgical system.

Example 21

The shaft assembly of Example 20, wherein the end effector comprises ajaw movable between an open position and a closed position, and whereinthe firing member is configured to move the jaw from the open positiontoward the closed position during the firing stroke.

Example 22

The shaft assembly of Examples 20 or 21, wherein the end effectorcomprises a first jaw and a second jaw, wherein the first jaw is movablebetween an open position and a closed position, and wherein the shaftassembly further comprises a closure member configured to move the firstjaw toward the closed position.

Example 23

The shaft assembly of Examples 20, 21, or 22, wherein the shaftcomprises a shaft frame slidable relative to the frame, wherein thesecond jaw is mounted to the shaft frame, and wherein the second jaw ismovable by the shaft frame to move the first jaw toward the openposition.

Example 24

The shaft assembly of Examples 20, 21, 22, or 23, further comprising aretraction pawl pivotably mounted to the retraction crank, and whereinthe retraction pawl is configured to engage the firing member when theretraction crank is rotated relative to the frame.

Example 25

The shaft assembly of Examples 20, 21, 22, 23, or 24, wherein themotorized surgical system comprises a first motorized surgical system,wherein the frame is configured to be mounted to a second motorizedsurgical system, and wherein the firing member is configured to beoperably coupled to the second motorized surgical system.

Example 26

The shaft assembly of Example 25, wherein the first motorized surgicalsystem comprises a handle of a surgical instrument, and wherein thesecond motorized surgical system comprises a surgical robot.

Example 27

The shaft assembly of Examples 20, 21, 22, 23, 24, 25, or 26, whereinthe end effector comprises a staple cartridge.

Example 28

The shaft assembly of Example 27, wherein the staple cartridge isreplaceable.

Example 29

A surgical system comprising a first motorized surgical system whichcomprises a first electrical motor, a second motorized surgical systemcomprising a second electrical motor, and a shaft assembly. The shaftassembly comprises a frame selectively mountable to the first motorizedsurgical system and the second motorized surgical system. The shaftassembly also comprises a shaft extending from the frame, an endeffector coupled to the shaft, and a firing member operably engageablewith the first electrical motor and the second electrical motor, whereinthe firing member is movable toward the end effector during a firingstroke. The shaft assembly further comprises a retraction crankrotatably mounted to the frame, wherein the retraction crank isselectively engageable with the firing member, and wherein theretraction crank is selectively operable to retract the firing memberaway from the end effector in the event that the shaft assembly ismounted to the first motorized surgical system, mounted to the secondmotorized surgical system, and not mounted to either the first motorizedsurgical system or the second motorized surgical system.

Example 30

The surgical system of Example 29, wherein the end effector comprises ajaw movable between an open position and a closed position, and whereinthe firing member is configured to move the jaw from the open positiontoward the closed position during the firing stroke.

Example 31

The surgical system of Examples 29 or 30, wherein the end effectorcomprises a first jaw and a second jaw, wherein the first jaw is movablebetween an open position and a closed position, and wherein the shaftassembly further comprises a closure member configured to move the firstjaw toward the closed position.

Example 32

The surgical system of Examples 29, 30, or 31, wherein the shaftcomprises a shaft frame slidable relative to the frame, wherein thesecond jaw is mounted to the shaft frame, and wherein the second jaw ismovable by the shaft frame to move the first jaw toward the openposition.

Example 33

The surgical system of Examples 29, 30, 31, or 32, further comprising aretraction pawl pivotably mounted to the retraction crank, and whereinthe retraction pawl is configured to engage the firing member when theretraction crank is rotated relative to the frame.

Example 34

The surgical system of Examples 29, 30, 31, 32, or 33, wherein the firstmotorized surgical system comprises a handle of a surgical instrument,and wherein the second motorized surgical system comprises a surgicalrobot.

Example 35

The shaft assembly of Examples 29, 30, 31, 32, 33, or 34, wherein theend effector comprises a staple cartridge.

Example 36

The shaft assembly of Example 35, wherein the staple cartridge isreplaceable.

Example 37

A shaft assembly for use with a first surgical instrument system and asecond surgical instrument system, wherein the shaft assembly comprisesa frame selectively mountable to the first surgical instrument systemand the second surgical instrument system. The shaft assembly alsocomprises a shaft extending from the frame, an end effector coupled tothe shaft, and a firing member operably engageable with the firstsurgical instrument system and the second surgical instrument system,wherein the firing member is movable toward the end effector during afiring stroke. The shaft assembly further comprises manually-operableretraction means for selectively engaging the firing member andretracting the firing member away from the end effector.

Example 38

The shaft assembly of Example 37, wherein the end effector comprises astaple cartridge.

Example 39

The shaft assembly of Example 38, wherein the staple cartridge isreplaceable.

Example 40

A shaft assembly for use with a surgical system, wherein the shaftassembly comprises a frame, wherein the frame comprises a proximalportion configured to be mounted to the surgical system, and a tubeextending distally from the proximal portion. The shaft assembly alsocomprises a spine, wherein the spine extends through the tube, andwherein the spine is slidably mounted to the proximal portion. The shaftassembly also comprises an end effector, wherein the end effectorcomprises a first jaw extending distally from the spine, and a secondjaw rotatably mounted to the first jaw, wherein the second jaw isrotatable between an open position and a closed position. The shaftassembly also comprises a firing member operably engageable with a drivesystem of the surgical system, wherein the firing member is movabledistally relative to the spine during a firing stroke. The shaftassembly further comprises a firing member retraction system configuredto pull the firing member proximally, and an end effector opening systemconfigured to slide the spine distally and allow the second jaw torotate into the open position.

Example 41

The shaft assembly of Example 40, wherein the firing member retractionsystem comprises a manually-actuatable lever.

Example 42

The shaft assembly of Examples 40 or 41, wherein the end effectoropening system comprises a manually-actuatable lever.

Example 43

The shaft assembly of Examples 40, 41, or 42, wherein the end effectorfurther comprises a staple cartridge.

Example 44

The shaft assembly of Example 43, wherein the staple cartridge isreplaceably seatable in the first jaw.

Example 45

The shaft assembly of Example 43, wherein the staple cartridge isreplaceably seatable in the second jaw.

Example 46

The shaft assembly of Examples 40, 41, 42, 43, 44, or 45, furthercomprising a spring configured to bias the second jaw into the openposition.

Example 47

The shaft assembly of Examples 40, 41, 42, 43, 44, 45, or 46, whereinthe end effector opening system and the firing member are operableindependently of each other.

Example 48

The shaft assembly of Examples 40, 41, 42, 43, 44, 45, 46, or 47,wherein the firing member comprises a first cam configured to engage thefirst jaw and a second cam member configured to engage the second jawduring the firing stroke.

Example 49

The shaft assembly of Examples 43, 44, 45, 46, 47, or 48, wherein thestaple cartridge comprises staples removably stored therein, and whereinthe firing member is configured to eject the staples from the staplecartridge.

Example 50

The shaft assembly of Examples 40, 41, 42, 43, 44, 45, 46, 47, 48, or49, wherein the end effector further comprises a staple cartridgecomprising staples removably stored therein, and wherein the firingmember is configured to eject the staples from the staple cartridge.

Example 51

The shaft assembly of Examples 40, 41, 42, 43, 44, 45, 46, 47, 48, 49,or 50, further comprising a closure member configured to move the secondjaw from the open position toward the closed position during a closurestroke.

Example 52

The shaft assembly of Example 51, wherein the firing member isconfigured to engage the closure member and move the closure memberthrough a closure stroke.

Example 53

The shaft assembly of Examples 51 or 52, wherein the closure member isconfigurable in a contracted configuration and an expandedconfiguration, and wherein the closure member is configured to performthe closure stroke when the closure member transitions between thecontracted configuration and the expanded configuration.

Example 54

The shaft assembly of Examples 51, 52, or 53, wherein the closure membercomprises a latch configured to releasably hold the closure member inthe contracted configuration.

Example 55

The shaft assembly of Examples 51, 52, 53, or 54, wherein the firingmember is configured to engage the closure member and release the latchprior to performing a firing stroke.

Example 56

The shaft assembly of Examples 51, 52, 53, 54, or 55, wherein theclosure member comprises a proximal portion and a distal portion,wherein the proximal portion of the closure member is mounted to theproximal portion of the frame, and wherein the distal portion is movableaway from the proximal portion of the closure member during a closurestroke.

Example 57

The shaft assembly of Examples 51, 52, 53, 54, 55, or 56, wherein theclosure member further comprises a spring configured to bias the distalportion toward the proximal portion of the closure member.

Example 58

The shaft assembly of Example 53, further comprising a spring configuredto bias the closure member into the contracted configuration.

Example 59

A shaft assembly for use with a surgical system, wherein the shaftassembly comprises a frame mountable to the surgical system, and an endeffector, wherein the end effector comprises a first jaw; and a secondjaw rotatably mounted to the first jaw, wherein the second jaw isrotatable between an open position and a closed position. The shaftassembly further comprises a closure member configurable in a contractedconfiguration and an expanded configuration, wherein the closure memberis configured to move the second jaw toward the closed position when theclosure member is transitioned from the contracted configuration to theexpanded configuration during a closure stroke.

Example 60

The shaft assembly of Example 59, further comprising a firing memberoperably engageable with a drive system of the surgical system, whereinthe firing member is movable through a firing stroke by the drivesystem.

Example 61

The shaft assembly of Example 60, wherein the firing member isconfigured to engage the closure member and transition the closuremember from the contracted configuration to the expanded configuration.

Example 62

The shaft assembly of Examples 60 or 61—wherein the closure membercomprises a latch configured to releasably hold the closure member inthe contracted configuration.

Example 63

The shaft assembly of Examples 60, 61, or 62, wherein the firing memberis configured to release the latch prior to performing the firingstroke.

Example 64

The shaft assembly of Examples 59, 60, 61, 62, or 63, wherein theclosure member comprises a proximal portion and a distal portion,wherein the proximal portion of the closure member is mounted to theframe, and wherein the distal portion is movable away from the proximalportion during a closure stroke.

Example 65

The shaft assembly of Example 64, wherein the closure member furthercomprises a spring configured to bias the distal portion of the closuremember toward the proximal portion.

Example 66

The shaft assembly of Examples 59, 60, 61, 62, 63, 64, or 65, furthercomprising a spring configured to bias the closure member into thecontracted configuration.

Example 67

The shaft assembly of Examples 59, 60, 61, 62, 63, 64, 65, or 66,wherein the end effector further comprises a staple cartridge.

Example 68

The shaft assembly of Example 67, wherein the staple cartridge isreplaceable.

Example 69

The shaft assembly of Examples 67 or 68, wherein the staple cartridge isseatable in the first jaw.

Example 70

The shaft assembly of Examples 67 or 68, wherein the staple cartridge isseatable in the second jaw.

Example 71

A shaft assembly for use with a surgical system, comprising an endeffector, and an attachment portion. The end effector comprises a firstjaw, a second jaw, a closure member configured to move the first jawrelative to the second jaw between an open position and a closedposition, and a firing member movable through a firing stroke. Theattachment portion comprises a shaft frame configured to engage a frameof the surgical system, a rotatable input configured to receive a rotarymotion from the surgical system, and a closure system operably coupledwith the closure member. The attachment portion also comprises a firingsystem operably coupled with the firing member, and a clutch, whereinthe clutch is configurable in a closure mode and a firing mode. Theclutch operably couples the rotatable input with the closure system whenthe clutch is in the closure mode, and the clutch operably decouples thefiring system from the rotatable input when the clutch is placed in theclosure mode. The clutch operably couples the rotatable input with thefiring system when the clutch is in the firing mode, and wherein theclutch operably decouples the closure system from the rotatable inputwhen the clutch is placed in the firing mode.

Example 72

The shaft assembly of Example 71, wherein the clutch comprises a togglepositionable in a closure position to place the clutch in the closuremode and a firing position to place the clutch in a firing mode.

Example 73

The shaft assembly of Examples 71 or 72, wherein the toggle comprises afirst pushable end and a second pushable end.

Example 74

The shaft assembly of Examples 71, 72, or 73, further comprising amanually-operable retraction system configured to retract the firingmember.

Example 75

The shaft assembly of Example 74, wherein the retraction system isconfigurable in a deactivated configuration and an activatedconfiguration, and wherein the retraction system is configured todecouple the rotary input from the firing system when the retractionsystem is placed in the activated configuration.

Example 76

The shaft assembly of Examples 74 or 75, wherein the closure system isoperably engageable with the rotary input when the retraction system isin the activated configuration.

Example 77

The shaft assembly of Examples 74, 75, or 76, wherein the firing systemis permanently decoupled from the rotary input when the retractionsystem is placed in the activated configuration.

Example 78

The shaft assembly of Example 75, wherein the firing system is operablycoupleable with the rotary input after the retraction system has beenreturned to the deactivated configuration.

Example 79

The shaft assembly of Examples 74, 75, 76, 77, or 78, wherein theattachment portion comprises a housing, and wherein the housingcomprises a cover movable between a closed position and an open positionto expose a lever of the retraction system.

Example 80

The shaft assembly of Example 79, wherein the cover is configured tooperably disengage the firing system from the rotatable input when thecover is moved from the closed position to the open position.

Example 81

The shaft assembly of Examples 79 or 80, wherein the cover does notoperably disengage the closure system from the rotatable input when thecover is moved from the closed position to the open position.

Example 82

The shaft assembly of Example 80, wherein the firing system is operablyre-engageable with the rotatable input when the cover is moved back intothe closed position.

Example 83

The shaft assembly of Examples 71, 72, 73, 74, 75, 76, 77, 78, 79, 80,81, or 82 wherein the firing member comprises a rotatable output shaft.

Example 84

The shaft assembly of Examples 80, 81, 82, or 83, wherein the firingsystem comprises a first gear and a second gear, wherein the first gearis operably intermeshed with the second gear when the cover is in theclosed position, and wherein the first gear is demeshed from the secondgear when the cover is in the open position.

Example 85

The shaft assembly of Example 84, further comprising a spring configuredto bias the first gear into operative intermeshment with the secondgear.

Example 86

The shaft assembly of Examples 71, 72, 73, 74, 75, 76, 77, 78, 79, 80,wherein the end effector further comprises a staple cartridge.

Example 87

The shaft assembly of Example 86, wherein the staple cartridge isreplaceable.

Example 88

The shaft assembly of Examples 71, 72, 73, 74, 75, 76, 77, 78, 79, 80,81, 82, 83, 84, 85, 86, or 87, wherein the firing member is rotatableand the closure member is translatable.

Example 89

A shaft assembly for use with a surgical system comprising an endeffector, a first drive system, and a second drive system. The shaftassembly also comprises an attachment portion, wherein the attachmentportion comprises a shaft frame configured to engage a frame of thesurgical system, and a rotatable input shaft configured to receive arotary motion from the surgical system. The attachment portion alsocomprises a clutch configurable in a first operating mode, and a secondoperating mode. The clutch operably couples the rotatable input shaftwith the first drive system when the clutch is in the first operatingmode, and the clutch operably decouples the second drive system from therotatable input shaft when the clutch is placed in the first operatingmode. The clutch operably couples the rotatable input shaft with thesecond drive system when the clutch is in the second operating mode, andwherein the clutch operably decouples the first drive system from therotatable input shaft when the clutch is placed in the second operatingmode.

Example 90

A shaft assembly for use with a surgical system comprising a first drivesystem, a second drive system, and a shaft frame configured to engage aframe of the surgical system. The shaft assembly also comprises arotatable input shaft configured to receive a rotary motion from thesurgical system, and a transmission configurable in a first operatingmode and a second operating mode. The transmission operably couples therotatable input shaft with the first drive system when the transmissionis in the first operating mode, and the transmission operably decouplesthe second drive system from the rotatable input shaft when thetransmission is placed in the first operating mode. The transmissionoperably couples the rotatable input shaft with the second drive systemwhen the transmission is in the second operating mode, and thetransmission operably decouples the first drive system from therotatable input shaft when the transmission is placed in the secondoperating mode, and a manually-operable retraction system configured tooperably deactivate the first operating mode and retract the seconddrive system when actuated.

Example 91

A shaft assembly for use with a surgical system, wherein the shaftassembly comprises a frame attachable to the surgical system, and an endeffector comprising a first jaw, a second jaw, wherein the first jaw isrotatable relative to the second jaw, and a staple cartridge comprisingstaples removably stored therein. The shaft assembly also comprises anarticulation joint, wherein the end effector is rotatably connected tothe frame about the articulation joint. The shaft assembly alsocomprises a firing member translatable between an unfired position and afired position during a firing stroke to eject staples from the staplecartridge, wherein the firing member is rotatable between a firstorientation and a second orientation. The shaft assembly furthercomprises an articulation driver configured to rotate the end effectorabout the articulation joint, wherein the firing member is operablycoupled with the articulation driver when the firing member is in thefirst orientation, wherein the translational movement of the firingmember is transmitted to the articulation driver when the firing memberis in the first orientation, and wherein the firing member is operablydecoupled from the articulation driver when the firing member is in thesecond orientation.

Example 92

The shaft assembly of Example 91, further comprising an articulationlock movable between an unlocked configuration and a lockedconfiguration, wherein the end effector is rotatable relative to theframe when the articulation lock is in the unlocked configuration, andwherein the articulation lock is configured to prevent the end effectorfrom rotating relative to the frame when the articulation lock is in thelocked configuration.

Example 93

The shaft assembly of Example 92, wherein the articulation lock isconfigured to engage the articulation driver and hold the articulationdriver in position when the articulation lock is in the lockedconfiguration.

Example 94

The shaft assembly of Examples 92 or 93, wherein the articulation lockis configured to engage the end effector and hold the end effector inposition when the articulation lock is in the locked configuration.

Example 95

The shaft assembly of Examples 92, 93, or 94, further comprising anarticulation lock actuator configured to move the articulation lockbetween the unlocked configuration and the locked configuration.

Example 96

The shaft assembly of Example 95, wherein the articulation lock actuatoris configured to rotate the firing member into the first orientation andoperably couple the firing member with the articulation driver when thearticulation lock actuator moves the articulation lock into the unlockedconfiguration.

Example 97

The shaft assembly of Examples 95 or 96, wherein the articulation lockactuator is configured to rotate the firing member into the secondorientation and operably decouple the firing member from thearticulation driver when the articulation lock actuator moves thearticulation lock into the locked configuration.

Example 98

The shaft assembly of Examples 91, 92, 93, 94, 95, 96, or 97, whereinthe firing member is configured to engage the first jaw and move thefirst jaw toward the second jaw during a closure stroke, and wherein thefiring member is configured to perform the closure stroke prior to thefiring stroke.

Example 99

The shaft assembly of Examples 91, 92, 93, 94, 95, 96, 97, or 98,further comprising a retraction actuator, wherein the retractionactuator is selectively engageable with the firing member andmanually-actuatable to retract the firing member to the unfiredposition.

Example 100

The shaft assembly of Examples 91, 92, 93, 94, 95, 96, 97, 98, or 99,further comprising a closure member configured to engage the first jawand move the first jaw toward the second jaw during a closure stroke.

Example 101

The shaft assembly of Examples 91, 92, 93, 94, 95, 96, 97, 98, 99, or100, wherein the firing member comprises a first portion, a secondportion, and a clutch, wherein the clutch is configured to switch thefiring member between an articulation-mode configuration and afiring-mode configuration, wherein the first portion is movable relativeto the second portion when the firing member is in the articulation-modeconfiguration, and wherein the first portion is engaged with the secondportion to drive the second portion distally when the firing member isin the firing-mode configuration.

Example 102

The shaft assembly of Example 101, wherein the clutch comprises a lockconfigured to releasably hold the firing member in the firing-modeconfiguration.

Example 103

The shaft assembly of Examples 101 or 102, wherein the lock is mountedto the second portion of the firing member.

Example 104

The shaft assembly of Examples 101, 102, or 103, wherein the firstportion of the firing member is movable toward the fired position toallow the lock to releasably trap the first portion into operativeengagement with the second portion when the clutch transitions thefiring member between the articulation-mode configuration and thefiring-mode configuration.

Example 105

The shaft assembly of Examples 101, 102, 103, or 104, wherein the framefurther comprises a key, wherein the lock is configured to engage thekey when the firing member is retracted toward the unfired position, andwherein the key is configured to unlock the lock and allow the firingmember to transition from the firing-mode configuration to thearticulation-mode configuration.

Example 106

The shaft assembly of Example 91, wherein the frame comprises a firstrotational stop and a second rotational stop, wherein the firstrotational stop is configured to stop the firing member in the firstorientation, and wherein the second rotational stop is configured tostop the firing member in the second orientation.

Example 107

The shaft assembly of Examples 91, 92, 93, 94, 95, 96, 97, 98, 99, 100,101, 102, 103, 104, 105, or 106, wherein the staple cartridge isreplaceable.

Example 108

A shaft assembly for use with a surgical system wherein the shaftassembly comprises a frame attachable to the surgical system, and an endeffector comprising a first jaw and a second jaw, wherein the first jawis rotatable relative to the second jaw. The shaft assembly alsocomprises an articulation joint, wherein the end effector is rotatablyconnected to the frame about the articulation joint, and an articulationdriver configured to rotate the end effector about the articulationjoint. The shaft assembly further comprises a firing assemblytranslatable between an unfired position and a fired position during afiring stroke, wherein the firing assembly comprises a first portion anda second portion. The first portion is rotatable relative to the secondportion between an articulation-mode orientation and a firing-modeorientation, wherein the first portion is operably coupled with thearticulation driver when the first portion is in the articulation-modeorientation. The translational movement of the firing assembly istransmitted to the articulation driver when the first portion is in thearticulation-mode orientation, and wherein the firing assembly isoperably decoupled from the articulation driver when the first portionis in the firing-mode orientation.

Example 109

The shaft assembly of Example 108, wherein the end effector furthercomprises a staple cartridge.

Example 110

A shaft assembly for use with a surgical system comprising a frameattachable to the surgical system, and an end effector, wherein the endeffector comprises a first jaw, and a second jaw, wherein the first jawis rotatable relative to the second jaw. The shaft assembly alsocomprises an articulation joint, wherein the end effector is rotatablyconnected to the frame about the articulation joint, and an articulationdriver configured to rotate the end effector about the articulationjoint. The shaft assembly also comprises a firing assembly translatablebetween an unfired position and a fired position during a firing stroke,wherein the firing assembly comprises a first portion and a secondportion. The shaft assembly further comprises means for selectivelyrotating the first portion of the firing assembly into and out ofoperable engagement with the articulation driver, and means for operablydecoupling the second portion of the firing assembly from the firstportion when the first portion is operably engaged with the articulationdriver.

Example 111

A shaft assembly for use with a surgical system, the shaft assemblycomprising a staple cartridge, an end effector, and a firing member. Thestaple cartridge comprises a cartridge body including staple cavities,staples removably stored in the staple cavities, and a sled movablebetween an unfired position and a fired position during a firing stroketo eject staples from the staple cavities. The end effector comprises acartridge channel configured to receive the staple cartridge, whereinthe cartridge channel comprises a lockout recess. The end effectorfurther comprises an anvil configured to deform the staples, and a lockspring. The firing member comprises a firing bar comprising a cuttingedge configured to cut the tissue of a patient during a firing stroke.The firing member further comprises a lock rotatably mounted to thefiring bar, wherein the lock is rotatable between an unlocked positionand a locked position, wherein the sled is configured to hold the lockin the unlocked position when the staple cartridge is seated in thecartridge channel and the sled is in the unfired position, and whereinthe lock is rotatable from the unlocked position to the locked positionby the lock spring when either the staple cartridge is not in thecartridge channel or the sled is not in the unfired position.

Example 112

The shaft assembly of Example 111, further comprising staple drivers,wherein the sled is configured to engage the staple drivers to eject thestaples from the staple cavities during a firing stroke.

Example 113

The shaft assembly of Example 112, wherein the staple drivers areintegrally-formed with the staples.

Example 114

The shaft assembly of Examples 111, 112, or 113, wherein the firing barfurther comprises a coupling member, wherein the coupling membercomprises the cutting edge, and wherein the coupling member comprises acartridge cam configured to engage the cartridge channel and an anvilcam configured to engage the anvil during a firing stroke.

Example 115

The shaft assembly of Example 114, wherein the anvil is rotatablerelative to the cartridge channel between an open position and a closedposition, and wherein the coupling member is configured to control theposition of the anvil relative to the staple cartridge.

Example 116

The shaft assembly of Example 114, wherein the cartridge channel isrotatable relative to the anvil between an open position and a closedposition, and wherein the coupling member is configured to control theposition of the staple cartridge relative to the anvil.

Example 117

The shaft assembly of Examples 111, 112, 113, 114, 115, or 116, whereinthe anvil is rotatable relative to the cartridge channel between an openposition and a closed position, and wherein the shaft assembly furthercomprises a closure member configured to move the anvil toward theclosed position.

Example 118

The shaft assembly of Examples 111, 112, 113, 114, 115, 116, or 117,wherein the cartridge channel is rotatable relative to the anvil betweenan open position and a closed position, and wherein the shaft assemblyfurther comprises a closure member configured to move the cartridgechannel toward the closed position.

Example 119

The shaft assembly of Examples 111, 112, 113, 114, 115, 116, 117, or118, wherein the end effector comprises a proximal end and a distal end,and wherein the lock extends distally with respect to the cutting edge.

Example 120

The shaft assembly of Examples 111, 112, 113, 114, 115, 116, 117, 118,or 119, wherein the lock is biased into the lockout recess by the lockspring when the firing stroke is initiated and either the staplecartridge is not in the cartridge channel or the sled is not in theunfired position, and wherein the firing stroke is stopped by the lockand the lockout recess before the staples are ejected from the staplecavities.

Example 121

The shaft assembly of Examples 111, 112, 113, 114, 115, 116, 117, 118,119, or 120, wherein the firing bar is not biased toward the lockoutrecess by the lock spring. Example 122

The shaft assembly of Examples 111, 112, 113, 114, 115, 116, 117, 118,119, 120, or 121, wherein the lock is configured to push the sledthrough the firing stroke if the staple cartridge is seated in thecartridge channel and the sled is in the unfired position at theinitiation of a firing stroke.

Example 123

The shaft assembly of Example 122, wherein the firing member isretractable after at least a portion of the firing stroke has beencompleted, and wherein the sled is not retractable with the firingmember.

Example 124

The shaft assembly of Examples 122 or 123, wherein the firing member isretractable after at least a portion of the firing stroke has beencompleted, and wherein the lock is configured to remain in the unlockedposition as the lock is retracted past the lock spring.

Example 125

The shaft assembly of Examples 111, 112, 113, 114, 115, 116, 117, 118,119, 120, 121, 122, 123, or 124, wherein the lock comprises a cantileverbeam comprising a proximal end fixedly mounted to the cartridge channeland a distal end movable relative the proximal end.

Example 126

The shaft assembly of Examples 111, 112, 113, 114, 115, 116, 117, 118,119, 120, 121, 122, 123, 124, or 125, wherein the cartridge channel isremovably attachable to the end effector.

Example 127

The shaft assembly of Examples 111, 112, 113, 114, 115, 116, 117, 118,119, 120, 121, 122, 123, 124, or 125, wherein the cartridge channel isnot removably attachable to the end effector.

Example 128

A shaft assembly for use with a surgical system, wherein the shaftassembly comprises a staple cartridge, an end effector, and a firingassembly. The staple cartridge comprises a cartridge body, and staples,wherein each staple is at least partially stored in the cartridge body.The staple cartridge further comprises a sled movable between an unfiredposition and a fired position during a firing stroke to eject staplesfrom the cartridge body. The end effector comprises a cartridge channelconfigured to receive the staple cartridge, wherein the cartridgechannel comprises a lockout. The end effector further comprises an anvilconfigured to deform the staples, and a biasing member. The firingassembly comprises a firing member, and a lock rotatably mounted to thefiring member, wherein the lock is rotatable between an unlockedposition and a locked position, wherein the sled is configured to holdthe lock in the unlocked position when the staple cartridge is seated inthe cartridge channel and the sled is in the unfired position, andwherein the lock is rotatable from the unlocked position to the lockedposition by the biasing member when either the staple cartridge is notin the cartridge channel or the sled is not in the unfired position.

Example 129

An end effector for use with a surgical system, the end effectorcomprising a staple cartridge, wherein the staple cartridge comprises acartridge body, and staples, wherein each staple is at least partiallystored in the cartridge body. The staple cartridge further comprises asled movable between an unfired position and a fired position during afiring stroke to eject staples from the cartridge body. The end effectoralso comprises a cartridge channel configured to receive the staplecartridge, wherein the cartridge channel comprises a lockout, an anvilconfigured to deform the staples, and a biasing member. The end effectorfurther comprises a firing assembly, wherein the firing assemblycomprises a firing member, and a lock rotatably mounted to the firingmember, wherein the lock is rotatable between an unlocked position and alocked position, wherein the sled is configured to hold the lock in theunlocked position when the staple cartridge is seated in the cartridgechannel and the sled is in the unfired position, and wherein the lock isrotatable from the unlocked position to the locked position by thebiasing member when either the staple cartridge is not in the cartridgechannel or the sled is not in the unfired position.

Example 130

A shaft assembly comprising a shaft frame, an end effector comprising anend effector frame, and an articulation joint, wherein the articulationjoint rotatably connects the end effector frame to the shaft frame. Theshaft assembly also comprises an articulation driver configured torotate the end effector about the articulation joint. The shaft assemblyfurther comprises a first articulation lock selectively actuatable toengage the end effector frame and prevent the end effector frame fromrotating relative to the shaft frame, and a second articulation lockselectively actuatable to engage the articulation driver and prevent theend effector frame from rotating relative to the shaft frame.

Example 131

The shaft assembly of Example 130, wherein the first articulation lockand the second articulation lock are both actuated into a lockedcondition by a lock actuator during a locking motion.

Example 132

The shaft assembly of Examples 130 or 131, wherein the firstarticulation lock is configured to engage the end effector frame beforethe second articulation lock engages the articulation driver during thelocking motion.

Example 133

The shaft assembly of Examples 130 or 131, wherein the secondarticulation lock is configured to disengage from the articulationdriver before the first articulation lock disengages from the endeffector frame during an unlocking motion of the lock actuator.

Example 134

The shaft assembly of Examples 130 or 131, wherein the firstarticulation lock is configured to engage the end effector frame afterthe second articulation lock engages the articulation driver during thelocking stroke.

Example 135

The shaft assembly of Examples 130 or 131, wherein the secondarticulation lock is configured to disengage from the articulationdriver after the first articulation lock disengages from the endeffector frame during an unlocking motion of the lock actuator.

Example 136

The shaft assembly of Examples 130 or 131, wherein the firstarticulation lock is configured to engage the end effector frame at thesame time that the second articulation lock engages the articulationdriver during the locking stroke.

Example 137

The shaft assembly of Examples 130 or 131, wherein the secondarticulation lock is configured to disengage from the articulationdriver at the same time that the first articulation lock disengages fromthe end effector frame during an unlocking motion of the lock actuator.

Example 138

The shaft assembly of Example 130, wherein the first articulation lockand the second articulation lock are separately actuatable.

Example 139

The shaft assembly of Examples 130, 131, 132, 133, 134, 135, 136, 137,or 138, wherein the articulation driver comprises a first articulationdriver configured to rotate the end effector in a first direction,wherein the shaft assembly further comprises a second articulationdriver configured to rotate the end effector about the articulationjoint in a second direction, and wherein the second direction isopposite the first direction.

Example 140

The shaft assembly of Example 139, wherein the second articulation lockis configured to engage the second articulation driver and prevent theend effector frame from rotating relative to the shaft frame when thesecond articulation lock is actuated.

Example 141

The shaft assembly of Example 139, wherein the second articulation lockis configured to engage the first articulation driver and the secondarticulation driver at the same time when the second articulation lockis actuated.

Example 142

The shaft assembly of Example 139, wherein the second articulation lockis configured to engage the first articulation driver and the secondarticulation driver at different times when the second articulation lockis actuated.

Example 143

The shaft assembly of Examples 139, 140, 141, or 142, wherein the secondarticulation lock comprises a first arm configured to engage the firstarticulation driver and a second arm configured to engage the secondarticulation driver, and wherein the first articulation lock isconfigured to engage the first arm with the first articulation driverand the second arm with the second articulation driver during a lockingmotion of the first articulation lock.

Example 144

The shaft assembly of Examples 130, 131, 132, 133, 134, 135, 136, 137,138, 139, 140, 141, 142, or 143, wherein the end effector furthercomprises a staple cartridge.

Example 145

The shaft assembly of Example 144, wherein the staple cartridge isreplaceable.

Example 146

A shaft assembly comprising a shaft frame, and an end effectorcomprising an end effector frame. The shaft assembly also comprises anarticulation joint, wherein the articulation joint rotatably connectsthe end effector frame to the shaft frame, and an articulation driverconfigured to rotate the end effector about the articulation joint. Theshaft assembly further comprises a lock system configured to engage theend effector frame and prevent the end effector frame from rotatingrelative to the shaft frame, and engage the articulation driver andprevent the end effector frame from rotating relative to the shaftframe.

Example 147

The shaft assembly of Example 146, wherein the end effector furthercomprises a staple cartridge.

Example 148

A shaft assembly comprising a shaft frame, and an end effectorcomprising an end effector frame. The shaft assembly also comprises anarticulation joint, wherein the articulation joint rotatably connectsthe end effector frame to the shaft frame, and an articulation driverdisplaceable to rotate the end effector about the articulation joint.The shaft assembly further comprises first locking means for selectivelypreventing the rotation of the end effector about the articulationjoint, and second locking means for selectively preventing thedisplacement of the articulation driver.

Example 149

The shaft assembly of Example 148, wherein the end effector furthercomprises a staple cartridge.

Many of the surgical instrument systems described herein are motivatedby an electric motor; however, the surgical instrument systems describedherein can be motivated in any suitable manner. In various instances,the surgical instrument systems described herein can be motivated by amanually-operated trigger, for example. In certain instances, the motorsdisclosed herein may comprise a portion or portions of a roboticallycontrolled system. Moreover, any of the end effectors and/or toolassemblies disclosed herein can be utilized with a robotic surgicalinstrument system. U.S. patent application Ser. No. 13/118,241, entitledSURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS, now U.S. Pat. No. 9,072,535, for example, disclosesseveral examples of a robotic surgical instrument system in greaterdetail.

The surgical instrument systems described herein have been described inconnection with the deployment and deformation of staples; however, theembodiments described herein are not so limited. Various embodiments areenvisioned which deploy fasteners other than staples, such as clamps ortacks, for example. Moreover, various embodiments are envisioned whichutilize any suitable means for sealing tissue. For instance, an endeffector in accordance with various embodiments can comprise electrodesconfigured to heat and seal the tissue. Also, for instance, an endeffector in accordance with certain embodiments can apply vibrationalenergy to seal the tissue.

The entire disclosures of:

U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE,which issued on Apr. 4, 1995;

U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT HAVINGSEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which issued on Feb. 21,2006;

U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING ANDFASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which issued onSep. 9, 2008;

U.S. Pat. No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL INSTRUMENTWITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS, which issued on Dec.16, 2008;

U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING ANARTICULATING END EFFECTOR, which issued on Mar. 2, 2010;

U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS, whichissued on Jul. 13, 2010;

U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE IMPLANTABLEFASTENER CARTRIDGE, which issued on Mar. 12, 2013;

U.S. patent application Ser. No. 11/343,803, entitled SURGICALINSTRUMENT HAVING RECORDING CAPABILITIES; now U.S. Pat. No. 7,845,537;

U.S. patent application Ser. No. 12/031,573, entitled SURGICAL CUTTINGAND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed Feb. 14, 2008;

U.S. patent application Ser. No. 12/031,873, entitled END EFFECTORS FORA SURGICAL CUTTING AND STAPLING INSTRUMENT, filed Feb. 15, 2008, nowU.S. Pat. No. 7,980,443;

U.S. patent application Ser. No. 12/235,782, entitled MOTOR-DRIVENSURGICAL CUTTING INSTRUMENT, now U.S. Pat. No. 8,210,411;

U.S. patent application Ser. No. 12/249,117, entitled POWERED SURGICALCUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM,now U.S. Pat. No. 8,608,045;

U.S. patent application Ser. No. 12/647,100, entitled MOTOR-DRIVENSURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROLASSEMBLY, filed Dec. 24, 2009; now U.S. Pat. No. 8,220,688;

U.S. patent application Ser. No. 12/893,461, entitled STAPLE CARTRIDGE,filed Sep. 29, 2012, now U.S. Pat. No. 8,733,613;

U.S. patent application Ser. No. 13/036,647, entitled SURGICAL STAPLINGINSTRUMENT, filed Feb. 28, 2011, now U.S. Pat. No. 8,561,870;

U.S. patent application Ser. No. 13/118,241, entitled SURGICAL STAPLINGINSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Pat.No. 9,072,535;

U.S. patent application Ser. No. 13/524,049, entitled ARTICULATABLESURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, filed on Jun. 15, 2012;now U.S. Pat. No. 9,101,358;

U.S. patent application Ser. No. 13/800,025, entitled STAPLE CARTRIDGETISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S. PatentNo. 9,345,481;

U.S. patent application Ser. No. 13/800,067, entitled STAPLE CARTRIDGETISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S. PatentApplication Publication No. 2014/0263552;

U.S. Patent Application Publication No. 2007/0175955, entitled SURGICALCUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM,filed Jan. 31, 2006; and

U.S. Patent Application Publication No. 2010/0264194, entitled SURGICALSTAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR, filed Apr. 22,2010, now U.S. Pat. No. 8,308,040, are hereby incorporated by referenceherein.

Although various devices have been described herein in connection withcertain embodiments, modifications and variations to those embodimentsmay be implemented. Particular features, structures, or characteristicsmay be combined in any suitable manner in one or more embodiments. Thus,the particular features, structures, or characteristics illustrated ordescribed in connection with one embodiment may be combined in whole orin part, with the features, structures or characteristics of one oremore other embodiments without limitation. Also, where materials aredisclosed for certain components, other materials may be used.Furthermore, according to various embodiments, a single component may bereplaced by multiple components, and multiple components may be replacedby a single component, to perform a given function or functions. Theforegoing description and following claims are intended to cover allsuch modification and variations.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, a device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the stepsincluding, but not limited to, the disassembly of the device, followedby cleaning or replacement of particular pieces of the device, andsubsequent reassembly of the device. In particular, a reconditioningfacility and/or surgical team can disassemble a device and, aftercleaning and/or replacing particular parts of the device, the device canbe reassembled for subsequent use. Those skilled in the art willappreciate that reconditioning of a device can utilize a variety oftechniques for disassembly, cleaning/replacement, and reassembly. Use ofsuch techniques, and the resulting reconditioned device, are all withinthe scope of the present application.

The devices disclosed herein may be processed before surgery. First, anew or used instrument may be obtained and, when necessary, cleaned. Theinstrument may then be sterilized. In one sterilization technique, theinstrument is placed in a closed and sealed container, such as a plasticor TYVEK bag. The container and instrument may then be placed in a fieldof radiation that can penetrate the container, such as gamma radiation,x-rays, and/or high-energy electrons. The radiation may kill bacteria onthe instrument and in the container. The sterilized instrument may thenbe stored in the sterile container. The sealed container may keep theinstrument sterile until it is opened in a medical facility. A devicemay also be sterilized using any other technique known in the art,including but not limited to beta radiation, gamma radiation, ethyleneoxide, plasma peroxide, and/or steam.

While this invention has been described as having exemplary designs, thepresent invention may be further modified within the spirit and scope ofthe disclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdo not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

What is claimed is:
 1. A shaft assembly, comprising: a shaft frame; anend effector comprising an end effector frame; an articulation joint,wherein said articulation joint rotatably connects said end effectorframe to said shaft frame; an articulation driver configured to rotatesaid end effector about said articulation joint; a first articulationlock selectively actuatable to engage said end effector frame andprevent said end effector frame from rotating relative to said shaftframe; and a second articulation lock selectively actuatable to engagesaid articulation driver and prevent said end effector frame fromrotating relative to said shaft frame.
 2. The shaft assembly of claim 1,wherein said first articulation lock and said second articulation lockare both actuated into a locked condition by a lock actuator during alocking motion.
 3. The shaft assembly of claim 2, wherein said firstarticulation lock is configured to engage said end effector frame beforesaid second articulation lock engages said articulation driver duringsaid locking motion.
 4. The shaft assembly of claim 3, wherein saidsecond articulation lock is configured to disengage from saidarticulation driver before said first articulation lock disengages fromsaid end effector frame during an unlocking motion of said lockactuator.
 5. The shaft assembly of claim 2, wherein said firstarticulation lock is configured to engage said end effector frame aftersaid second articulation lock engages said articulation driver duringsaid locking stroke.
 6. The shaft assembly of claim 5, wherein saidsecond articulation lock is configured to disengage from saidarticulation driver after said first articulation lock disengages fromsaid end effector frame during an unlocking motion of said lockactuator.
 7. The shaft assembly of claim 2, wherein said firstarticulation lock is configured to engage said end effector frame at thesame time that said second articulation lock engages said articulationdriver during said locking stroke.
 8. The shaft assembly of claim 7,wherein said second articulation lock is configured to disengage fromsaid articulation driver at the same time that said first articulationlock disengages from said end effector frame during an unlocking motionof said lock actuator.
 9. The shaft assembly of claim 1, wherein saidfirst articulation lock and said second articulation lock are separatelyactuatable.
 10. The shaft assembly of claim 1, wherein said articulationdriver comprises a first articulation driver configured to rotate saidend effector in a first direction, wherein said shaft assembly furthercomprises a second articulation driver configured to rotate said endeffector about said articulation joint in a second direction, andwherein said second direction is opposite said first direction.
 11. Theshaft assembly of claim 10, wherein said second articulation lock isconfigured to engage said second articulation driver and prevent saidend effector frame from rotating relative to said shaft frame when saidsecond articulation lock is actuated.
 12. The shaft assembly of claim11, wherein said second articulation lock is configured to engage saidfirst articulation driver and said second articulation driver at thesame time when said second articulation lock is actuated.
 13. The shaftassembly of claim 11, wherein said second articulation lock isconfigured to engage said first articulation driver and said secondarticulation driver at different times when said second articulationlock is actuated.
 14. The shaft assembly of claim 11, wherein saidsecond articulation lock comprises a first arm configured to engage saidfirst articulation driver and a second arm configured to engage saidsecond articulation driver, and wherein said first articulation lock isconfigured to engage said first arm with said first articulation driverand said second arm with said second articulation driver during alocking motion of said first articulation lock.
 15. The shaft assemblyof claim 1, wherein said end effector further comprises a staplecartridge.
 16. The shaft assembly of claim 15, wherein said staplecartridge is replaceable.
 17. A shaft assembly, comprising: a shaftframe; an end effector comprising an end effector frame; an articulationjoint, wherein said articulation joint rotatably connects said endeffector frame to said shaft frame; an articulation driver configured torotate said end effector about said articulation joint; and a locksystem configured to: engage said end effector frame and prevent saidend effector frame from rotating relative to said shaft frame; andengage said articulation driver and prevent said end effector frame fromrotating relative to said shaft frame.
 18. The shaft assembly of claim17, wherein said end effector further comprises a staple cartridge. 19.A shaft assembly, comprising: a shaft frame; an end effector comprisingan end effector frame; an articulation joint, wherein said articulationjoint rotatably connects said end effector frame to said shaft frame; anarticulation driver displaceable to rotate said end effector about saidarticulation joint; first locking means for selectively preventing therotation of said end effector about said articulation joint; and secondlocking means for selectively preventing the displacement of saidarticulation driver.
 20. The shaft assembly of claim 19, wherein saidend effector further comprises a staple cartridge.